text: /*
   * Copyright (C) 2019 Open Source Robotics Foundation
   *
   * Licensed under the Apache License, Version 2.0 (the "License");
   * you may not use this file except in compliance with the License.
   * You may obtain a copy of the License at
   *
   *     http://www.apache.org/licenses/LICENSE-2.0
   *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
   *
  */
  
  #include <gtest/gtest.h>
  #include "sdf/Imu.hh"
  
  /////////////////////////////////////////////////
  TEST(DOMImu, Construction)
  {
    sdf::Imu imu;
    sdf::Noise defaultNoise, noise;
  
    noise.SetType(sdf::NoiseType::GAUSSIAN);
    noise.SetMean(1.2);
    noise.SetStdDev(2.3);
    noise.SetBiasMean(4.5);
    noise.SetBiasStdDev(6.7);
    noise.SetPrecision(8.9);
  
    EXPECT_EQ(defaultNoise, imu.LinearAccelerationXNoise());
    imu.SetLinearAccelerationXNoise(noise);
    EXPECT_EQ(noise, imu.LinearAccelerationXNoise());
  
    EXPECT_EQ(defaultNoise, imu.LinearAccelerationYNoise());
    imu.SetLinearAccelerationYNoise(noise);
    EXPECT_EQ(noise, imu.LinearAccelerationYNoise());
  
    EXPECT_EQ(defaultNoise, imu.LinearAccelerationZNoise());
    imu.SetLinearAccelerationZNoise(noise);
    EXPECT_EQ(noise, imu.LinearAccelerationZNoise());
  
    EXPECT_EQ(defaultNoise, imu.AngularVelocityXNoise());
    imu.SetAngularVelocityXNoise(noise);
    EXPECT_EQ(noise, imu.AngularVelocityXNoise());
  
    EXPECT_EQ(defaultNoise, imu.AngularVelocityYNoise());
    imu.SetAngularVelocityYNoise(noise);
    EXPECT_EQ(noise, imu.AngularVelocityYNoise());
  
    EXPECT_EQ(defaultNoise, imu.AngularVelocityZNoise());
    imu.SetAngularVelocityZNoise(noise);
    EXPECT_EQ(noise, imu.AngularVelocityZNoise());
  
    EXPECT_EQ(ignition::math::Vector3d::UnitX, imu.GravityDirX());
    imu.SetGravityDirX(ignition::math::Vector3d::Zero);
    EXPECT_EQ(ignition::math::Vector3d::Zero, imu.GravityDirX());
  
    EXPECT_TRUE(imu.GravityDirXParentFrame().empty());
    imu.SetGravityDirXParentFrame("my_frame");
    EXPECT_EQ("my_frame", imu.GravityDirXParentFrame());
  
    EXPECT_EQ(ignition::math::Vector3d::Zero, imu.CustomRpy());
    imu.SetCustomRpy(ignition::math::Vector3d::UnitZ);
    EXPECT_EQ(ignition::math::Vector3d::UnitZ, imu.CustomRpy());
  
    EXPECT_TRUE(imu.CustomRpyParentFrame().empty());
    imu.SetCustomRpyParentFrame("other_frame");
    EXPECT_EQ("other_frame", imu.CustomRpyParentFrame());
  
    EXPECT_EQ("CUSTOM", imu.Localization());
    imu.SetLocalization("NED");
    EXPECT_EQ("NED", imu.Localization());
  
    // Copy Constructor
    sdf::Imu imu2(imu);
    EXPECT_EQ(imu, imu2);
  
    // Copy operator
    sdf::Imu imu3;
    imu3 = imu;
    EXPECT_EQ(imu, imu3);
  
    // Move Constructor
    sdf::Imu imu4(std::move(imu));
    EXPECT_EQ(imu2, imu4);
  
    imu = imu4;
    EXPECT_EQ(imu2, imu);
  
    // Move operator
    sdf::Imu imu5;
    imu5 = std::move(imu2);
    EXPECT_EQ(imu3, imu5);
  
    imu2 = imu5;
    EXPECT_EQ(imu3, imu2);
  
    // inequality
    sdf::Imu imu6;
    EXPECT_NE(imu3, imu6);
  }
  
  /////////////////////////////////////////////////
  TEST(DOMImu, Load)
  {
    sdf::ElementPtr sdf(std::make_shared<sdf::Element>());
  
    // No <noise> element
    sdf::Imu imu;
    sdf::Errors errors = imu.Load(sdf);
    EXPECT_FALSE(errors.empty());
    EXPECT_TRUE(errors[0].Message().find("is not an <imu>")
        != std::string::npos) << errors[0].Message();
  
    EXPECT_NE(nullptr, imu.Element());
    EXPECT_EQ(sdf.get(), imu.Element().get());
  
    // The Imu::Load function is test more thouroughly in the
    // link_dom.cc integration test.
  }
  