remove repeated test

Signed-off-by: Louise Poubel <louise@openrobotics.org>
gazebosim · Jan 20, 2022 · 134056a · 134056a
1 parent 97cc902
commit 134056a
Showing 1 changed file with 0 additions and 154 deletions.
diff --git a/test/integration/buoyancy.cc b/test/integration/buoyancy.cc
@@ -197,160 +197,6 @@ TEST_F(BuoyancyTest, Movement)
   EXPECT_TRUE(finished);
 }
 
-/////////////////////////////////////////////////
-TEST_F(BuoyancyTest, CenterOfVolume)
-{
-  // Start server
-  ServerConfig serverConfig;
-  const auto sdfFile = common::joinPaths(std::string(PROJECT_BINARY_PATH),
-    "test", "worlds", "buoyancy.sdf");
-  serverConfig.SetSdfFile(sdfFile);
-
-  Server server(serverConfig);
-  EXPECT_FALSE(server.Running());
-  EXPECT_FALSE(*server.Running(0));
-
-  using namespace std::chrono_literals;
-  server.SetUpdatePeriod(1ns);
-
-  std::size_t iterations = 1000;
-
-  bool finished = false;
-  test::Relay testSystem;
-  testSystem.OnPostUpdate([&](const gazebo::UpdateInfo &_info,
-                             const gazebo::EntityComponentManager &_ecm)
-  {
-    // Check pose
-    Entity submarine = _ecm.EntityByComponents(
-        components::Model(), components::Name("submarine"));
-
-    Entity submarineSinking = _ecm.EntityByComponents(
-        components::Model(), components::Name("submarine_sinking"));
-
-    Entity submarineBuoyant = _ecm.EntityByComponents(
-        components::Model(), components::Name("submarine_buoyant"));
-
-    Entity duck = _ecm.EntityByComponents(
-        components::Model(), components::Name("duck"));
-
-    ASSERT_NE(submarine, kNullEntity);
-    ASSERT_NE(submarineSinking, kNullEntity);
-    ASSERT_NE(submarineBuoyant, kNullEntity);
-    ASSERT_NE(duck, kNullEntity);
-
-    // Get the submarine link
-    auto submarineLink = _ecm.EntityByComponents(
-      components::ParentEntity(submarine),
-      components::Name("body"),
-      components::Link());
-
-    // Check the submarine buoyant volume and center of volume
-    auto submarineVolume = _ecm.Component<components::Volume>(
-        submarineLink);
-    ASSERT_NE(submarineVolume , nullptr);
-    EXPECT_NEAR(0.25132741228718347, submarineVolume->Data(), 1e-3);
-
-    auto submarineCenterOfVolume =
-      _ecm.Component<components::CenterOfVolume>(submarineLink);
-    ASSERT_NE(submarineCenterOfVolume, nullptr);
-    EXPECT_EQ(ignition::math::Vector3d(0, 0, 0),
-        submarineCenterOfVolume->Data());
-
-    // Get the submarine buoyant link
-    auto submarineBuoyantLink = _ecm.EntityByComponents(
-      components::ParentEntity(submarineBuoyant),
-      components::Name("body"),
-      components::Link());
-
-    // Check the submarine buoyant volume and center of volume
-    auto submarineBuoyantVolume = _ecm.Component<components::Volume>(
-        submarineBuoyantLink);
-    ASSERT_NE(submarineBuoyantVolume , nullptr);
-    EXPECT_NEAR(0.735133, submarineBuoyantVolume->Data(), 1e-3);
-
-    auto submarineBuoyantCenterOfVolume =
-      _ecm.Component<components::CenterOfVolume>(submarineBuoyantLink);
-    ASSERT_NE(submarineBuoyantCenterOfVolume, nullptr);
-    EXPECT_EQ(ignition::math::Vector3d(0, 0, 0),
-        submarineBuoyantCenterOfVolume->Data());
-
-    // Get the submarine sinking link
-    auto submarineSinkingLink = _ecm.EntityByComponents(
-      components::ParentEntity(submarineSinking),
-      components::Name("body"),
-      components::Link());
-
-    // Check the submarine sinking volume and center of volume
-    auto submarineSinkingVolume = _ecm.Component<components::Volume>(
-        submarineSinkingLink);
-    ASSERT_NE(submarineSinkingVolume , nullptr);
-    EXPECT_NEAR(0.735133, submarineSinkingVolume->Data(), 1e-3);
-
-    auto submarineSinkingCenterOfVolume =
-      _ecm.Component<components::CenterOfVolume>(submarineSinkingLink);
-    ASSERT_NE(submarineSinkingCenterOfVolume, nullptr);
-    EXPECT_EQ(ignition::math::Vector3d(0, 0, 0),
-        submarineSinkingCenterOfVolume->Data());
-
-    // Get the duck link
-    auto duckLink = _ecm.EntityByComponents(
-      components::ParentEntity(duck),
-      components::Name("link"),
-      components::Link());
-
-    // Check the duck volume and center of volume
-    auto duckVolume = _ecm.Component<components::Volume>(duckLink);
-    ASSERT_NE(duckVolume, nullptr);
-    EXPECT_NEAR(1.40186, duckVolume->Data(), 1e-3);
-    auto duckCenterOfVolume =
-      _ecm.Component<components::CenterOfVolume>(duckLink);
-    ASSERT_NE(duckCenterOfVolume, nullptr);
-    EXPECT_EQ(ignition::math::Vector3d(0, 0, -0.4),
-        duckCenterOfVolume->Data());
-
-    auto submarinePose = _ecm.Component<components::Pose>(submarine);
-    ASSERT_NE(submarinePose , nullptr);
-
-    auto submarineSinkingPose = _ecm.Component<components::Pose>(
-        submarineSinking);
-    ASSERT_NE(submarineSinkingPose , nullptr);
-
-    auto submarineBuoyantPose = _ecm.Component<components::Pose>(
-        submarineBuoyant);
-    ASSERT_NE(submarineSinkingPose , nullptr);
-
-    auto duckPose = _ecm.Component<components::Pose>(duck);
-    ASSERT_NE(duckPose , nullptr);
-
-    // The "submarine" should stay in its starting location of 0, 0, 1.5 meters.
-    EXPECT_NEAR(0, submarinePose->Data().Pos().X(), 1e-2);
-    EXPECT_NEAR(0, submarinePose->Data().Pos().Y(), 1e-2);
-    EXPECT_NEAR(0, submarinePose->Data().Pos().Z(), 1e-2);
-
-    if (_info.iterations > 10)
-    {
-      EXPECT_LT(submarineSinkingPose->Data().Pos().Z(),
-                submarinePose->Data().Pos().Z());
-      EXPECT_GT(submarineBuoyantPose->Data().Pos().Z(),
-                submarinePose->Data().Pos().Z());
-      EXPECT_GT(duckPose->Data().Pos().Z(),
-                submarinePose->Data().Pos().Z());
-    }
-
-    if (_info.iterations == iterations)
-    {
-      EXPECT_NEAR(-1.63, submarineSinkingPose->Data().Pos().Z(), 1e-2);
-      EXPECT_NEAR(4.90, submarineBuoyantPose->Data().Pos().Z(), 1e-2);
-      EXPECT_NEAR(171.4, duckPose->Data().Pos().Z(), 1e-2);
-      finished = true;
-    }
-  });
-
-  server.AddSystem(testSystem.systemPtr);
-  server.Run(true, iterations, false);
-  EXPECT_TRUE(finished);
-}
-
 /////////////////////////////////////////////////
 TEST_F(BuoyancyTest, OffsetAndRotation)
 {