public void AddComponentNonUniqueName()
{
Dictionary <string, Link> links = new Dictionary <string, Link>();
Dictionary <string, Joint> joints = new Dictionary <string, Joint>();
Robot robot = new Robot("robot", links, joints);
string parentName1 = "parent";
string parentName2 = "parent_1";
string jointName = $"{parentName1}_joint";
string childName = parentName1;
string expectedUniqueLinkName = $"{childName}_2";
string expectedUniqueJointName = $"{jointName}_1";
Component component = new Component(childName, "file");
links.Add(parentName1, new Link.Builder(parentName1).Build());
links.Add(parentName2, new Link.Builder(parentName2).Build());
joints.Add(jointName, new Joint.Builder(jointName, Joint.JointType.Continuous, links[parentName1], links[parentName2]).Build());
string result = robot.AddComponent(component, parentName2, new XyzAttribute(), new RpyAttribute());
Assert.AreEqual(expectedUniqueLinkName, result);
Assert.AreEqual(3, robot.Links.Count);
Assert.AreEqual(2, robot.Joints.Count);
Assert.IsTrue(robot.Links.ContainsKey(parentName1));
Assert.IsTrue(robot.Links.ContainsKey(parentName2));
Assert.IsTrue(robot.Links.ContainsKey(expectedUniqueLinkName));
Assert.IsTrue(robot.Joints.ContainsKey(jointName));
Assert.IsTrue(robot.Joints.ContainsKey(expectedUniqueJointName));
Assert.AreEqual(Geometry.Shapes.Mesh, robot.Links[expectedUniqueLinkName].Visual[0].Geometry.Shape);
Assert.AreEqual(component.FileName, robot.Links[expectedUniqueLinkName].Visual[0].Geometry.Mesh.FileName);
}
public void AddComponentByRobot()
{
Dictionary <string, Link> links = new Dictionary <string, Link>();
Dictionary <string, Joint> joints = new Dictionary <string, Joint>();
Robot robot = new Robot("robot", links, joints);
Dictionary <string, Link> sensorLinks = new Dictionary <string, Link>();
Dictionary <string, Joint> sensorJoints = new Dictionary <string, Joint>();
Robot sensor = new Robot("sensor", sensorLinks, sensorJoints);
string parentName = "parent";
string sensorChildName = "child";
string sensorLinkName = "link";
string sensorJointName = "joint";
links.Add(parentName, new Link.Builder(parentName).Build());
sensorLinks.Add(sensorChildName, new Link.Builder(sensorChildName).Build());
sensorLinks.Add(sensorLinkName, new Link.Builder(sensorLinkName).Build());
sensorJoints.Add(sensorJointName, new Joint.Builder(sensorJointName, Joint.JointType.Fixed, sensorLinks[sensorLinkName], sensorLinks[sensorChildName]).Build());
string result = robot.AddComponent(sensor, parentName, sensorChildName, new XyzAttribute(), new RpyAttribute());
Assert.AreEqual(sensorChildName, result);
Assert.AreEqual(3, robot.Links.Count);
Assert.AreEqual(2, robot.Joints.Count);
Assert.IsTrue(robot.Links.ContainsKey(parentName));
Assert.IsTrue(robot.Links.ContainsKey(sensorChildName));
Assert.IsTrue(robot.Links.ContainsKey(sensorLinkName));
Assert.IsTrue(robot.Joints.ContainsKey(sensorJointName));
Assert.IsTrue(robot.Joints.ContainsKey($"{sensor.Name}_joint"));
}
public void AddComponentByRobotParentDoesNotExist()
{
Robot robot = new Robot("robot", new Dictionary <string, Link>(), new Dictionary <string, Joint>());
Robot sensor = new Robot("sensor", new Dictionary <string, Link>(), new Dictionary <string, Joint>());
string result = robot.AddComponent(sensor, "parent", "child", new XyzAttribute(), new RpyAttribute());
Assert.AreEqual(null, result);
Assert.AreEqual(0, robot.Links.Count);
Assert.AreEqual(0, robot.Joints.Count);
}
public void AddComponentByMeshParentDoesNotExist()
{
Robot robot = new Robot("robot", new Dictionary <string, Link>(), new Dictionary <string, Joint>());
Component component = new Component("component", "file");
string result = robot.AddComponent(component, "parent does not exist", new XyzAttribute(), new RpyAttribute());
Assert.AreEqual(null, result);
Assert.AreEqual(0, robot.Links.Count);
Assert.AreEqual(0, robot.Joints.Count);
Assert.IsFalse(robot.Links.ContainsKey(component.Name));
}
public void AddComponentByRobotChildDoesNotExist()
{
Dictionary <string, Link> links = new Dictionary <string, Link>();
Dictionary <string, Joint> joints = new Dictionary <string, Joint>();
Robot robot = new Robot("robot", links, joints);
Robot sensor = new Robot("sensor", new Dictionary <string, Link>(), new Dictionary <string, Joint>());
string parentName = "parent";
links.Add(parentName, new Link.Builder(parentName).Build());
string result = robot.AddComponent(sensor, parentName, "child", new XyzAttribute(), new RpyAttribute());
Assert.AreEqual(null, result);
Assert.AreEqual(1, robot.Links.Count);
Assert.AreEqual(0, robot.Joints.Count);
}
public void AddComponentByMesh()
{
Dictionary <string, Link> links = new Dictionary <string, Link>();
Dictionary <string, Joint> joints = new Dictionary <string, Joint>();
Robot robot = new Robot("robot", links, joints);
Component component = new Component("component", "file");
string parentName = "parent";
links.Add(parentName, new Link.Builder(parentName).Build());
string result = robot.AddComponent(component, parentName, new XyzAttribute(), new RpyAttribute());
Assert.AreEqual(component.Name, result);
Assert.AreEqual(2, robot.Links.Count);
Assert.AreEqual(1, robot.Joints.Count);
Assert.IsTrue(robot.Links.ContainsKey(parentName));
Assert.IsTrue(robot.Links.ContainsKey(component.Name));
Assert.IsTrue(robot.Joints.ContainsKey($"{component.Name}_joint"));
Assert.AreEqual(Geometry.Shapes.Mesh, robot.Links[component.Name].Visual[0].Geometry.Shape);
Assert.AreEqual(component.FileName, robot.Links[component.Name].Visual[0].Geometry.Mesh.FileName);
}