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))