add integration test

gazebosim · Jan 6, 2021 · 1dd0baa · 1dd0baa
1 parent 7147d59
commit 1dd0baa
Show file tree

Hide file tree

Showing 2 changed files with 33 additions and 0 deletions.
diff --git a/test/integration/visual_dom.cc b/test/integration/visual_dom.cc
@@ -203,6 +203,30 @@ TEST(DOMVisual, Transparency)
   EXPECT_FLOAT_EQ(0.22f, vis1->Transparency());
 }
 
+//////////////////////////////////////////////////
+TEST(DOMVisual, LaserRetro)
+{
+  const std::string testFile =
+    sdf::filesystem::append(PROJECT_SOURCE_PATH, "test", "sdf",
+        "shapes.sdf");
+
+  // Load the SDF file
+  sdf::Root root;
+  EXPECT_TRUE(root.Load(testFile).empty());
+
+  const sdf::Model *model = root.ModelByIndex(0);
+  ASSERT_NE(nullptr, model);
+
+  const sdf::Link *link = model->LinkByIndex(0);
+  ASSERT_NE(nullptr, link);
+
+  const sdf::Visual *vis1 = link->VisualByName("sphere_vis_laser_retro");
+  ASSERT_NE(nullptr, vis1);
+
+  ASSERT_EQ(true, vis1->HasLaserRetro());
+  EXPECT_DOUBLE_EQ(1150, vis1->LaserRetro());
+}
+
 /////////////////////////////////////////////////
 TEST(DOMVisual, LoadModelFramesRelativeToJoint)
 {

diff --git a/test/sdf/shapes.sdf b/test/sdf/shapes.sdf
@@ -153,6 +153,15 @@
           </sphere>
         </geometry>
       </visual>
+
+      <visual name="sphere_vis_laser_retro">
+        <laser_retro>1150</laser_retro>
+        <geometry>
+          <sphere>
+            <radius>0.5</radius>
+          </sphere>
+        </geometry>
+      </visual>
     </link>
   </model>
 </sdf>