def test_signed_distance_api(self): obj = mut.SignedDistancePair() self.assertIsInstance(obj.id_A, mut.GeometryId) self.assertIsInstance(obj.id_B, mut.GeometryId) self.assertTupleEqual(obj.p_ACa.shape, (3, )) self.assertTupleEqual(obj.p_BCb.shape, (3, )) self.assertIsInstance(obj.distance, float)
def test_deprecated_struct_member(self): """Tests successful deprecation of struct member""" with catch_drake_warnings(expected_count=1): # Initializing by referencing the deprecated field warns. data = mut.SignedDistancePair(is_nhat_BA_W_unique=False) data = mut.SignedDistancePair() with catch_drake_warnings(expected_count=2): # Setting the deprecated field warns. data.is_nhat_BA_W_unique = False _ = data.is_nhat_BA_W_unique # Specifying all other members in constructor is fine. data = mut.SignedDistancePair(id_A=mut.GeometryId.get_new_id(), id_B=mut.GeometryId.get_new_id(), p_ACa=[0, 0, 1], p_BCb=[1, 0, 0], distance=13, nhat_BA_W=[0, 1, 0])