public void ParseLink()
{
string name = "name";
Geometry geometry1 = new Geometry(new Sphere(1));
Geometry geometry2 = new Geometry(new Box(new SizeAttribute(1, 2, 3)));
Visual visual1 = new Visual.Builder(geometry1).Build();
Visual visual2 = new Visual.Builder(geometry2).Build();
Collision collision = new Collision.Builder().SetGeometry(geometry1).Build();
Inertial inertial = new Inertial(new Mass(1), new Inertia(1, 2, 3, 4, 5, 6));
string format = @"<link name='{0}'>
<visual><geometry><sphere radius='{1}'/></geometry></visual>
<visual><geometry><box size='{2} {3} {4}'/></geometry></visual>
<collision><geometry><sphere radius='{5}'/></geometry></collision>
<inertial><mass value='{6}'/><inertia ixx='{7}' ixy='{8}' ixz='{9}' iyy='{10}' iyz='{11}' izz='{12}'/></inertial>
</link>";
string xml = String.Format(format, name, visual1.Geometry.Sphere.Radius,
visual2.Geometry.Box.Size.Length, visual2.Geometry.Box.Size.Width, visual2.Geometry.Box.Size.Height,
collision.Geometry.Sphere.Radius, inertial.Mass.Value, inertial.Inertia.Ixx, inertial.Inertia.Ixy,
inertial.Inertia.Ixz, inertial.Inertia.Iyy, inertial.Inertia.Iyz, inertial.Inertia.Izz);
this.xmlDoc.Load(XmlReader.Create(new StringReader(xml)));
Link link = this.parser.Parse(this.xmlDoc.DocumentElement);
Assert.AreEqual(name, link.Name);
Assert.AreEqual(2, link.Visual.Count);
Assert.AreEqual(visual1, link.Visual[0]);
Assert.AreEqual(visual2, link.Visual[1]);
Assert.AreEqual(1, link.Collision.Count);
Assert.AreEqual(collision, link.Collision[0]);
Assert.AreEqual(inertial, link.Inertial);
}
public void ConstructCollisionNullName()
{
Geometry geometry = new Geometry(new Sphere(1));
Collision collision = new Collision.Builder(null).SetGeometry(geometry).Build();
Assert.IsNull(collision.Name);
Assert.AreEqual(geometry, collision.Geometry);
Assert.AreEqual(new Origin(), collision.Origin);
}
public void ConstructCollision()
{
String name = "name";
Origin origin = new Origin();
Geometry geometry = new Geometry(new Sphere(1));
Collision collision = new Collision.Builder(name).SetOrigin(origin).SetGeometry(geometry).Build();
Assert.AreEqual(name, collision.Name);
Assert.AreEqual(origin, collision.Origin);
Assert.AreEqual(geometry, collision.Geometry);
}
public void EqualsAndHash()
{
Collision collision = new Collision.Builder().SetGeometry(new Geometry(new Sphere(1))).Build();
Collision same = new Collision.Builder().SetGeometry(new Geometry(new Sphere(1))).Build();
Collision diff = new Collision.Builder().SetOrigin(new Origin.Builder().SetXyz(new XyzAttribute(1, 2, 3)).Build())
.SetGeometry(new Geometry(new Sphere(1))).Build();
Assert.IsTrue(collision.Equals(collision));
Assert.IsFalse(collision.Equals(null));
Assert.IsTrue(collision.Equals(same));
Assert.IsTrue(same.Equals(collision));
Assert.IsFalse(collision.Equals(diff));
Assert.AreEqual(collision.GetHashCode(), same.GetHashCode());
Assert.AreNotEqual(collision.GetHashCode(), diff.GetHashCode());
}
/// <summary>
/// Parses a URDF <collision> element from XML.
/// </summary>
/// <param name="node">The XML node of a <collision> element</param>
/// <returns>A Collision object parsed from the XML</returns>
public override Collision Parse(XmlNode node)
{
ValidateXmlNode(node);
XmlAttribute nameAttribute = GetAttributeFromNode(node, UrdfSchema.NAME_ATTRIBUTE_NAME);
XmlElement originElement = GetElementFromNode(node, UrdfSchema.ORIGIN_ELEMENT_NAME);
XmlElement geometryElement = GetElementFromNode(node, UrdfSchema.GEOMETRY_ELEMENT_NAME);
Collision.Builder builder;
if (nameAttribute != null)
{
builder = new Collision.Builder(nameAttribute.Value);
}
else
{
builder = new Collision.Builder();
}
if (originElement != null)
{
builder.SetOrigin(this.originParser.Parse(originElement));
}
if (geometryElement != null)
{
builder.SetGeometry(this.geometryParser.Parse(geometryElement));
}
else
{
LogMalformedAttribute(UrdfSchema.GEOMETRY_ELEMENT_NAME);
builder.SetGeometry(DEFAULT_GEOMETRY);
}
return(builder.Build());
}
public void ConstructCollisionNullOrigin()
{
Collision collision = new Collision.Builder().SetOrigin(null).Build();
}
public void ConstructCollisionNullGeometry()
{
Collision collision = new Collision.Builder().SetGeometry(null).Build();
}
public void ConstructCollisionNoGeometry()
{
Collision collision = new Collision.Builder().Build();
}
