public static PyObject ToPython(this JointStates obj)
{
var positions = PyConvert.ToPyObject(obj.Positions);
var velocities = PyConvert.ToPyObject(obj.Velocities);
var efforts = PyConvert.ToPyObject(obj.Efforts);
using (Py.GIL())
{
return(pyXamlaMotionTypes.JointStates(positions, velocities, efforts));
}
}
public void TestInit()
{
var pos = new JointValues(new JointSet("a", "b", "c"), new double[] { 2, 3, 4 });
var vel = new JointValues(new JointSet("a", "b", "c"), new double[] { 2, 3, 4 });
var eff = new JointValues(new JointSet("a", "b", "c"), new double[] { 2, 3, 4 });
var js = new JointStates(pos, vel, eff);
Assert.NotNull(js.JointSet);
Assert.Null(new JointStates(null, null, null).JointSet);
// all jointset must match
var badEff = new JointValues(new JointSet("f", "b", "c"), new double[] { 2, 3, 4 });
Assert.Throws <Exception>(() => new JointStates(pos, vel, badEff));
}
