def test_scale(self):
scale = np.array([1., 2., 3.])
pin.setGeometryMeshScales(self.collision_model, scale)
for obj in self.collision_model.geometryObjects:
self.assertTrue(obj.meshScale[0] == scale[0])
self.assertTrue(obj.meshScale[1] == scale[1])
self.assertTrue(obj.meshScale[2] == scale[2])
def test_scalar_scale(self):
scale = 2.
vec = np.array([scale] * 3)
pin.setGeometryMeshScales(self.collision_model, scale)
for obj in self.collision_model.geometryObjects:
self.assertTrue(np.allclose(obj.meshScale, vec))
def test_scale(self):
scale = np.matrix([1., 2., 3.]).T
pin.setGeometryMeshScales(self.collision_model, scale)
for obj in self.collision_model.geometryObjects:
self.assertTrue(np.allclose(obj.meshScale, scale))