1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
|
import platform
import pytest
import numpy as np
import dartpy as dart
def test_basic():
world_frame = dart.dynamics.Frame.World()
assert world_frame.isWorld()
frame1 = dart.dynamics.SimpleFrame()
assert not frame1.isWorld()
assert not frame1.isShapeNode()
assert frame1.isShapeFrame()
assert frame1.getTransform().translation()[0] == pytest.approx(0)
assert frame1.getTransform().translation()[1] == pytest.approx(0)
assert frame1.getTransform().translation()[2] == pytest.approx(0)
frame1.setTranslation([1, 2, 3])
assert frame1.getTransform().translation()[0] == pytest.approx(1)
assert frame1.getTransform().translation()[1] == pytest.approx(2)
assert frame1.getTransform().translation()[2] == pytest.approx(3)
assert frame1.getParentFrame().isWorld()
assert frame1.descendsFrom(None)
assert frame1.descendsFrom(world_frame)
assert frame1.descendsFrom(frame1)
frame2 = frame1.spawnChildSimpleFrame()
assert not frame2.isWorld()
assert frame2.descendsFrom(None)
assert frame2.descendsFrom(world_frame)
assert frame2.descendsFrom(frame1)
assert frame2.descendsFrom(frame2)
assert frame2.getTransform().translation()[0] == pytest.approx(1)
assert frame2.getTransform().translation()[1] == pytest.approx(2)
assert frame2.getTransform().translation()[2] == pytest.approx(3)
frame2.setRelativeTranslation([1, 2, 3])
assert frame2.getTransform().translation()[0] == pytest.approx(2)
assert frame2.getTransform().translation()[1] == pytest.approx(4)
assert frame2.getTransform().translation()[2] == pytest.approx(6)
frame2.setTranslation([1, 2, 3])
assert frame2.getTransform().translation()[0] == pytest.approx(1)
assert frame2.getTransform().translation()[1] == pytest.approx(2)
assert frame2.getTransform().translation()[2] == pytest.approx(3)
if __name__ == "__main__":
pytest.main()
|
