def test_scene_graph_api(self):
scene_graph = mut.SceneGraph()
global_source = scene_graph.RegisterSource("anchored")
self.assertIsInstance(
scene_graph.get_source_pose_port(global_source), InputPort)
self.assertIsInstance(
scene_graph.get_pose_bundle_output_port(), OutputPort)
self.assertIsInstance(
scene_graph.get_query_output_port(), OutputPort)
# Test visualization API.
# Use a mockable so that we can make a smoke test without side effects.
lcm = DrakeMockLcm()
for i in range(2):
builder = DiagramBuilder()
scene_graph = builder.AddSystem(mut.SceneGraph())
if i == 1:
mut.ConnectDrakeVisualizer(
builder=builder, scene_graph=scene_graph)
else:
mut.ConnectDrakeVisualizer(
builder=builder, scene_graph=scene_graph,
pose_bundle_output_port=(
scene_graph.get_pose_bundle_output_port()))
mut.DispatchLoadMessage(
scene_graph=scene_graph, lcm=lcm)
def test_connect_drake_visualizer(self):
# Test visualization API.
# Use a mockable so that we can make a smoke test without side
# effects.
T = float
SceneGraph = mut.SceneGraph_[T]
DiagramBuilder = DiagramBuilder_[T]
lcm = DrakeMockLcm()
for role in [mut.Role.kProximity, mut.Role.kIllustration]:
for i in range(2):
builder = DiagramBuilder()
scene_graph = builder.AddSystem(SceneGraph())
if i == 1:
mut.ConnectDrakeVisualizer(builder=builder,
scene_graph=scene_graph,
lcm=lcm,
role=role)
else:
mut.ConnectDrakeVisualizer(
builder=builder,
scene_graph=scene_graph,
pose_bundle_output_port=(
scene_graph.get_pose_bundle_output_port()),
lcm=lcm,
role=role)
mut.DispatchLoadMessage(scene_graph=scene_graph,
lcm=lcm,
role=role)
def normal(builder, scene_graph):
with catch_drake_warnings(expected_count=2):
mut.ConnectDrakeVisualizer(
builder=builder, scene_graph=scene_graph,
lcm=lcm, role=role)
mut.DispatchLoadMessage(
scene_graph=scene_graph, lcm=lcm, role=role)
def normal(builder, scene_graph):
mut.ConnectDrakeVisualizer(builder=builder,
scene_graph=scene_graph,
lcm=lcm,
role=role)
mut.DispatchLoadMessage(scene_graph=scene_graph,
lcm=lcm,
role=role)
def port(builder, scene_graph):
mut.ConnectDrakeVisualizer(
builder=builder, scene_graph=scene_graph,
pose_bundle_output_port=(
scene_graph.get_pose_bundle_output_port()),
lcm=lcm, role=role)
mut.DispatchLoadMessage(
scene_graph=scene_graph, lcm=lcm, role=role)
def port(builder, scene_graph):
with catch_drake_warnings(expected_count=2):
mut.ConnectDrakeVisualizer(
builder=builder, scene_graph=scene_graph,
pose_bundle_output_port=(
scene_graph.get_pose_bundle_output_port()),
lcm=lcm, role=role)
mut.DispatchLoadMessage(
scene_graph=scene_graph, lcm=lcm, role=role)