def test_joint_constructor(self):
j1 = pin.JointModelRX()
self.assertTrue(j1.nq == 1)
jc1 = pin.JointModelComposite(j1)
self.assertTrue(jc1.nq == 1)
self.assertTrue(len(jc1.joints) == 1)
self.assertTrue(jc1.njoints == len(jc1.joints))
j2 = pin.JointModelRX()
self.assertTrue(j2.nq == 1)
jc2 = pin.JointModelComposite(j1, pin.SE3.Random())
self.assertTrue(jc2.nq == 1)
self.assertTrue(len(jc2.joints) == 1)
self.assertTrue(jc2.njoints == len(jc2.joints))
def test_add_joint(self):
j1 = pin.JointModelRX()
self.assertTrue(j1.nq == 1)
j2 = pin.JointModelRY()
self.assertTrue(j2.nq == 1)
j3 = pin.JointModelRZ()
self.assertTrue(j3.nq == 1)
jc = pin.JointModelComposite(2)
self.assertTrue(jc.nq == 0)
self.assertTrue(len(jc.joints) == 0)
self.assertTrue(jc.njoints == len(jc.joints))
jc.addJoint(j1)
self.assertTrue(jc.nq == 1)
self.assertTrue(len(jc.joints) == 1)
self.assertTrue(jc.njoints == len(jc.joints))
jc.addJoint(j2)
self.assertTrue(jc.nq == 2)
self.assertTrue(len(jc.joints) == 2)
self.assertTrue(jc.njoints == len(jc.joints))
jc.addJoint(j3, pin.SE3.Random())
self.assertTrue(jc.nq == 3)
self.assertTrue(jc.njoints == len(jc.joints))
def test_add_joint_return(self):
jc1 = pin.JointModelComposite()
jc2 = jc1.addJoint(pin.JointModelRX())
jc3 = jc2.addJoint(pin.JointModelRY())
jc4 = jc1.addJoint(pin.JointModelRZ())
self.assertTrue(jc1.njoints == 3)
self.assertTrue(jc2.njoints == 3)
self.assertTrue(jc3.njoints == 3)
self.assertTrue(jc4.njoints == 3)
del jc1
del jc3
del jc4
self.assertTrue(jc2.njoints == 3)
def test_basic(self):
jc = pin.JointModelComposite()
self.assertTrue(hasattr(jc, 'joints'))
self.assertTrue(hasattr(jc, 'njoints'))
self.assertTrue(hasattr(jc, 'jointPlacements'))
def test_reserve_constructor(self):
jc = pin.JointModelComposite(2)
self.assertTrue(jc.nq == 0)
self.assertTrue(len(jc.joints) == 0)
self.assertTrue(jc.njoints == len(jc.joints))
