def test_signed_distance_api(self):
obj = mut.SignedDistancePair()
self.assertIsInstance(obj.id_A, mut.GeometryId)
self.assertIsInstance(obj.id_B, mut.GeometryId)
self.assertTupleEqual(obj.p_ACa.shape, (3, ))
self.assertTupleEqual(obj.p_BCb.shape, (3, ))
self.assertIsInstance(obj.distance, float)
def test_deprecated_struct_member(self):
"""Tests successful deprecation of struct member"""
with catch_drake_warnings(expected_count=1):
# Initializing by referencing the deprecated field warns.
data = mut.SignedDistancePair(is_nhat_BA_W_unique=False)
data = mut.SignedDistancePair()
with catch_drake_warnings(expected_count=2):
# Setting the deprecated field warns.
data.is_nhat_BA_W_unique = False
_ = data.is_nhat_BA_W_unique
# Specifying all other members in constructor is fine.
data = mut.SignedDistancePair(id_A=mut.GeometryId.get_new_id(),
id_B=mut.GeometryId.get_new_id(),
p_ACa=[0, 0, 1], p_BCb=[1, 0, 0],
distance=13, nhat_BA_W=[0, 1, 0])