public void AreLimitsCorrect_Fails()
{
var joint = new Joint(
name: "custom_joint", type: "planar", parent: "base", child: "link",
limit: new Joint.Limit(5, 4, 6, 7),
dynamics: new Joint.Dynamics(8, 9));
GameObject linkObject = new GameObject("link");
UrdfJoint urdfJoint = UrdfJoint.Create(linkObject, UrdfJoint.JointTypes.Revolute, joint);
Assert.IsFalse(urdfJoint.AreLimitsCorrect());
Object.DestroyImmediate(linkObject);
}
public void AreLimitsCorrect_Succeeds()
{
var joint = new Joint(
name: "custom_joint", type: "planar", parent: "base", child: "link",
limit: new Joint.Limit(4, 5, 6, 7),
dynamics: new Joint.Dynamics(8, 9));
GameObject linkObject = new GameObject("link");
UrdfJoint urdfJoint = UrdfJoint.Create(linkObject, UrdfJoint.JointTypes.Prismatic, joint);
Assert.IsTrue(urdfJoint.AreLimitsCorrect());
Object.DestroyImmediate(linkObject);
}
public void DisplayRequiredLimitMessage(string limitLocation)
{
GUILayout.Space(5);
EditorGUILayout.LabelField("Joint Limits");
urdfJoint.EffortLimit = EditorGUILayout.DoubleField("Effort Limit", urdfJoint.EffortLimit);
urdfJoint.VelocityLimit = EditorGUILayout.DoubleField("Velocity Limit", urdfJoint.VelocityLimit);
if (!urdfJoint.AreLimitsCorrect())
{
EditorGUILayout.HelpBox("Limits are required for this joint type. Please enter valid limit values in " + limitLocation + ".", MessageType.Warning);
}
GUILayout.Space(5);
}
