public void Create_UrdfJointPlanar_Succeeds()
{
GameObject linkObject = new GameObject("link");
UrdfJoint joint = UrdfJointPlanar.Create(linkObject);
UrdfJoint urdfJoint = linkObject.GetComponent <UrdfJoint>();
ArticulationBody articulationBody = linkObject.GetComponent <ArticulationBody>();
Assert.IsTrue(joint is UrdfJointPlanar);
Assert.AreEqual(joint, urdfJoint);
Assert.AreEqual(ArticulationJointType.PrismaticJoint, articulationBody.jointType);
Object.DestroyImmediate(linkObject);
}
public void GetPosition_Succeeds()
{
GameObject baseObject = new GameObject("base");
GameObject linkObject = new GameObject("link");
linkObject.transform.parent = baseObject.transform;
linkObject.transform.localPosition = new Vector3(1, 2, 3);
UrdfJoint.Create(baseObject, UrdfJoint.JointTypes.Fixed);
UrdfJoint joint = UrdfJointPlanar.Create(linkObject);
Assert.AreEqual(linkObject.transform.localPosition.magnitude, joint.GetPosition());
Object.DestroyImmediate(baseObject);
}
