diff options
Diffstat (limited to 'sci-electronics/gazebo/files/tests.patch')
-rw-r--r-- | sci-electronics/gazebo/files/tests.patch | 46 |
1 files changed, 46 insertions, 0 deletions
diff --git a/sci-electronics/gazebo/files/tests.patch b/sci-electronics/gazebo/files/tests.patch new file mode 100644 index 000000000000..4f06acbc0ee7 --- /dev/null +++ b/sci-electronics/gazebo/files/tests.patch @@ -0,0 +1,46 @@ +Index: gazebo-8.0.0/test/integration/physics_link.cc +=================================================================== +--- gazebo-8.0.0.orig/test/integration/physics_link.cc ++++ gazebo-8.0.0/test/integration/physics_link.cc +@@ -199,7 +199,7 @@ void PhysicsLinkTest::AddForce(const std + gzdbg << "World != link == inertial frames, no offset" << std::endl; + model->SetLinkWorldPose(ignition::math::Pose3d( + ignition::math::Vector3d(2, 3, 4), +- ignition::math::Vector3d(0, IGN_PI/2.0, 1)), link); ++ ignition::math::Quaterniond(0, IGN_PI/2.0, 1)), link); + EXPECT_NE(ignition::math::Pose3d::Zero, link->WorldPose()); + EXPECT_EQ(link->WorldPose(), link->WorldInertialPose()); + this->AddLinkForceTwoWays(world, link, ignition::math::Vector3d(-1, 10, 5)); +@@ -215,7 +215,7 @@ void PhysicsLinkTest::AddForce(const std + model->SetLinkWorldPose(ignition::math::Pose3d::Zero, link); + ignition::math::Pose3d inertialPose = ignition::math::Pose3d( + ignition::math::Vector3d(1, 5, 8), +- ignition::math::Vector3d(IGN_PI/3.0, IGN_PI*1.5, IGN_PI/4)); ++ ignition::math::Quaterniond(IGN_PI/3.0, IGN_PI*1.5, IGN_PI/4)); + link->GetInertial()->SetCoG(inertialPose); + EXPECT_EQ(ignition::math::Pose3d::Zero, link->WorldPose()); + EXPECT_EQ(inertialPose, link->WorldInertialPose()); +@@ -224,9 +224,9 @@ void PhysicsLinkTest::AddForce(const std + gzdbg << "World != link != inertial frames, with offset" << std::endl; + model->SetLinkWorldPose(ignition::math::Pose3d( + ignition::math::Vector3d(5, 10, -4), +- ignition::math::Vector3d(0, IGN_PI/2.0, IGN_PI/6)), link); ++ ignition::math::Quaterniond(0, IGN_PI/2.0, IGN_PI/6)), link); + inertialPose = ignition::math::Pose3d(ignition::math::Vector3d(0, -5, 10), +- ignition::math::Vector3d(0, 2.0*IGN_PI, IGN_PI/3)); ++ ignition::math::Quaterniond(0, 2.0*IGN_PI, IGN_PI/3)); + link->GetInertial()->SetCoG(inertialPose); + this->AddLinkForceTwoWays(world, link, ignition::math::Vector3d(1, 2, 1), + ignition::math::Vector3d(-2, 0.5, 1)); +@@ -235,9 +235,9 @@ void PhysicsLinkTest::AddForce(const std + << std::endl; + model->SetLinkWorldPose(ignition::math::Pose3d( + ignition::math::Vector3d(-1.5, 0.8, 3), +- ignition::math::Vector3d(-IGN_PI/4.5, IGN_PI/3.0, IGN_PI*1.2)), link); ++ ignition::math::Quaterniond(-IGN_PI/4.5, IGN_PI/3.0, IGN_PI*1.2)), link); + inertialPose = ignition::math::Pose3d(ignition::math::Vector3d(1, 0, -5.6), +- ignition::math::Vector3d(IGN_PI/9, 0, IGN_PI*3)); ++ ignition::math::Quaterniond(IGN_PI/9, 0, IGN_PI*3)); + link->GetInertial()->SetCoG(inertialPose); + link->SetLinearVel(ignition::math::Vector3d(2, -0.1, 5)); + link->SetAngularVel(ignition::math::Vector3d(-IGN_PI/10, 0, 0.0001)); |