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_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_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_resize_with_model(self):
model_shapes = iDynTree.ModelSolidShapes()
model = iDynTree.Model()
link1 = iDynTree.Link()
link2 = iDynTree.Link()
model.add_link("link1", link1)
model.add_link("link2", link2)
model_shapes.resize(model)
self.assertEqual(len(model_shapes), model.get_nr_of_links())
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_resize_with_size(self): model_shapes = iDynTree.ModelSolidShapes() model_shapes.resize(2) self.assertEqual(len(model_shapes), 2)
