def test_link_iterator(self):
model_shapes = iDynTree.ModelSolidShapes()
model_shapes.resize(2)
# Create one mesh for link 0.
mesh = iDynTree.ExternalMesh()
mesh.name = "mesh_l0"
model_shapes[0].append(mesh)
# Create two meshes for link 1.
mesh = iDynTree.ExternalMesh()
mesh.name = "mesh_l1_1"
model_shapes[1].append(mesh)
mesh = iDynTree.ExternalMesh()
mesh.name = "mesh_l1_2"
model_shapes[1].append(mesh)
# Test that the iterator iterates once on the first link.
i = 0
for m in model_shapes[0]:
i += 1
self.assertTrue(m.name)
self.assertEqual(i, 1)
# Test that the iterator iterates twice on the first link.
i = 0
for m in model_shapes[1]:
i += 1
self.assertTrue(m.name)
self.assertEqual(i, 2)
def test_clone(self): mesh = iDynTree.ExternalMesh() mesh.name = "a_name" mesh_clone = mesh.clone() mesh_clone.name = "cloned_name" self.assertEqual(mesh_clone.name, "cloned_name") self.assertEqual(mesh.name, "a_name")
def test_mesh_scale(self): mesh = iDynTree.ExternalMesh() scale = iDynTree.Vector3() scale[0] = 1 scale[1] = 2 scale[2] = 3 mesh.scale = scale self.assertEqual(list(mesh.scale), list(scale))
def test_add_mesh(self): model_shapes = iDynTree.ModelSolidShapes() model_shapes.resize(2) mesh = iDynTree.ExternalMesh() mesh.name = "a_mesh" model_shapes[0].append(mesh) self.assertEqual(len(model_shapes[1]), 0) self.assertEqual(model_shapes[0, 0].name, "a_mesh")
def test_cast_to_wrong_object_raises(self):
sphere = iDynTree.Sphere()
sphere.radius = 3.14
mesh = iDynTree.ExternalMesh()
mesh.filename = "a_filename"
with self.assertRaises(ValueError):
sphere.as_external_mesh()
with self.assertRaises(ValueError):
mesh.as_sphere()
def test_clear_on_model_shapes(self): model_shapes = iDynTree.ModelSolidShapes() model_shapes.resize(2) mesh = iDynTree.ExternalMesh() mesh.name = "a_mesh" model_shapes[0].append(mesh) self.assertEqual(len(model_shapes), 2) model_shapes.clear() self.assertEqual(len(model_shapes), 0)
def test_overwrite_shape_on_model_list(self): model_shapes = iDynTree.ModelSolidShapes() model_shapes.resize(1) mesh = iDynTree.ExternalMesh() mesh.name = "a_mesh" model_shapes[0].append(mesh) # Now change the shape in [0][0] mesh.name = "a_different_mesh" model_shapes[0, 0] = mesh self.assertEqual(model_shapes[0, 0].name, "a_different_mesh")
def test_cast_to_correct_object_is_ok(self): sphere = iDynTree.Sphere() sphere.radius = 3.14 mesh = iDynTree.ExternalMesh() mesh.filename = "a_filename" to_sphere = sphere.as_sphere() self.assertIsNotNone(to_sphere) self.assertEqual(to_sphere.radius, 3.14) to_mesh = mesh.as_external_mesh() self.assertIsNotNone(to_mesh) self.assertEqual(to_mesh.filename, "a_filename")
def test_transform(self):
position = iDynTree.Position(1, 2, 3)
rotation = iDynTree.Rotation(0, 0, 1, 1, 0, 0, 0, 1, 0)
transform = iDynTree.Transform(rotation, position)
mesh = iDynTree.ExternalMesh()
mesh.link_H_geometry = transform
self.assertEqual(list(mesh.link_H_geometry.position), list(position))
for r, c in itertools.product(range(3), range(3)):
self.assertEqual(mesh.link_H_geometry.rotation[r, c], rotation[r,
c])
def test_model_shapes(self):
model = iDynTree.Model()
link1 = iDynTree.Link()
link2 = iDynTree.Link()
model.add_link("link1", link1)
model.add_link("link2", link2)
self.assertEqual(len(model.visual_solid_shapes), model.get_nr_of_links())
self.assertEqual(len(model.collision_solid_shapes), model.get_nr_of_links())
# Append a shape to test that the objects are writable.
mesh = iDynTree.ExternalMesh()
mesh.name = "a_mesh"
old_len = len(model.visual_solid_shapes[0])
model.visual_solid_shapes[0].append(mesh)
self.assertEqual(len(model.visual_solid_shapes[0]), old_len + 1)
def test_mesh_filename(self): mesh = iDynTree.ExternalMesh() mesh.filename = "a_filename" self.assertEqual(mesh.filename, "a_filename")
def test_material(self):
mesh = iDynTree.ExternalMesh()
mesh.material = iDynTree.Material("a_material")
self.assertEqual(mesh.material.name, "a_material")
