Generic test type for physics engines, which provides a factory for standard tests along with an extension point for user defined tests. More...

#include <EngineTest.hpp>

Inherited by IntegratorTest.

Classes
struct	EngineLoopInfo
	The info passed in a callback function. More...

class	Factory
	A factory for engine tests. This factory also defines an ExtensionPoint. More...

struct	Failure
	Format for a failure to an engine test. More...

struct	Result
	A result of an engine test. Each test can return multiple results. More...

class	TestHandle
	Handle for a concrete test run, which makes it possible to interact with the test during simulation. More...

Public Types
typedef rw::core::Ptr< EngineTest >	Ptr
	Smart pointer to EngineTest.

typedef std::function< void(double time, bool failed, bool done)>	TimeCallback
	The callback type for the current simulation time.

Public Member Functions
	EngineTest ()
	Construct new test.

virtual	~EngineTest ()
	Destructor.

virtual bool	isEngineSupported (const std::string &engineID) const =0
	Check if engine with specific name is supported by the test. More...

virtual TestHandle::Ptr	runThread (const std::string &engineID, const rw::core::PropertyMap &parameters, rw::core::Ptr< rwsim::log::SimulatorLogScope > verbose, rw::core::Ptr< rw::common::ThreadTask > task)
	Run the test in a separate thread. More...

virtual void	run (TestHandle::Ptr handle, const std::string &engineID, const rw::core::PropertyMap &parameters, rw::core::Ptr< rwsim::log::SimulatorLogScope > verbose=NULL)=0
	Run the test. More...

virtual double	getRunTime () const =0
	Get the length of the simulation. More...

virtual rw::core::Ptr< rwsim::dynamics::DynamicWorkCell >	getDWC (const rw::core::PropertyMap &map)=0
	Get the dynamic workcell used by the test. More...

virtual rw::core::Ptr< rw::core::PropertyMap >	getDefaultParameters () const
	Get the default parameters used by the test. More...

virtual std::vector< rw::core::Ptr< rw::core::PropertyMap > >	getPredefinedParameters () const
	Get a vector of predefined parameters. More...

Protected Types
typedef std::function< void(rw::core::Ptr< const rwsim::dynamics::DynamicWorkCell >, rw::kinematics::State &)>	InitCallback
	Type for a function initializing the state.

typedef std::function< void(const EngineLoopInfo &)>	TestCallback
	Type for a callback function.

Protected Member Functions
void	runEngineLoop (double dt, TestHandle::Ptr handle, const std::string &engineID, const rw::core::PropertyMap &parameters, rw::core::Ptr< rwsim::log::SimulatorLogScope > verbose, TestCallback callback=0, InitCallback initialize=0)
	A standard stepping loop provided as a convenience for test implementations. More...

Detailed Description

Generic test type for physics engines, which provides a factory for standard tests along with an extension point for user defined tests.

Member Function Documentation

◆ getDefaultParameters()

virtual rw::core::Ptr<rw::core::PropertyMap> getDefaultParameters ( ) const

virtual

Get the default parameters used by the test.

Returns: the default test parameters.

Reimplemented in IntegratorTest.

◆ getDWC()

virtual rw::core::Ptr<rwsim::dynamics::DynamicWorkCell> getDWC ( const rw::core::PropertyMap & map )

pure virtual

Get the dynamic workcell used by the test.

Parameters

map	[in] properties for test workcell.

Returns: a smart pointer to a dynamic workcell.

Implemented in IntegratorTest.

◆ getPredefinedParameters()

virtual std::vector<rw::core::Ptr<rw::core::PropertyMap> > getPredefinedParameters ( ) const

virtual

Get a vector of predefined parameters.

Returns: the predefines parameters.

◆ getRunTime()

virtual double getRunTime ( ) const

pure virtual

Get the length of the simulation.

Returns: the length of the simulation.

Implemented in IntegratorSpringTest, IntegratorRotationTest, and IntegratorGravityTest.

◆ isEngineSupported()

virtual bool isEngineSupported ( const std::string & engineID ) const

pure virtual

Check if engine with specific name is supported by the test.

Parameters

engineID [in] the id of the engine.

Returns: true if supported, false otherwise.

Implemented in IntegratorTest.

◆ run()

virtual void run	(	TestHandle::Ptr	handle,
		const std::string &	engineID,
		const rw::core::PropertyMap &	parameters,
		rw::core::Ptr< rwsim::log::SimulatorLogScope >	verbose = `NULL`
	)

pure virtual

Run the test.

Parameters

handle	[in/out] a TestHandle where the results of the test will be added to.
engineID	[in] the id of the engine to run test for.
parameters	[in] the parameters for the test run.
verbose	[in] (optional) record detailed internal debug information in the engine during simulation.

◆ runEngineLoop()

void runEngineLoop	(	double	dt,
		TestHandle::Ptr	handle,
		const std::string &	engineID,
		const rw::core::PropertyMap &	parameters,
		rw::core::Ptr< rwsim::log::SimulatorLogScope >	verbose,
		TestCallback	callback = `0`,
		InitCallback	initialize = `0`
	)

protected

A standard stepping loop provided as a convenience for test implementations.

Parameters

dt	[in] the time step to use.
handle	[in/out] a TestHandle where the results of the test will be added to.
engineID	[in] the id of the engine to run test for.
parameters	[in] the parameters for the test run.
verbose	[in] record detailed internal debug information in the engine during simulation.
callback	[in] (optional) call a function after each step of the simulation.
initialize	[in] (optional) call a function that sets the initial state.

◆ runThread()

virtual TestHandle::Ptr runThread	(	const std::string &	engineID,
		const rw::core::PropertyMap &	parameters,
		rw::core::Ptr< rwsim::log::SimulatorLogScope >	verbose,
		rw::core::Ptr< rw::common::ThreadTask >	task
	)

virtual

Run the test in a separate thread.

Parameters

engineID	[in] the id of the engine to run test for.
parameters	[in] the parameters for the test run.
verbose	[in] record detailed internal debug information in the engine during simulation.
task	[in] the task to add simulation work to.

Returns: a TestHandle which makes it possible to interact with the test during the test run.

The documentation for this class was generated from the following file:

EngineTest.hpp

Classes

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Detailed Description

Member Function Documentation

◆ getDefaultParameters()

◆ getDWC()

◆ getPredefinedParameters()

◆ getRunTime()

◆ isEngineSupported()

◆ run()

◆ runEngineLoop()

◆ runThread()