private void ResetPosition()
{
if (!isAnimationStart)
{
newState = actualJointState;
}
if (trajectory != null)
{
urdfJoint.UpdateJointState(trajectory[0] - newState);
}
}
public void UpdateJointState_Succeeds()
{
GameObject baseObject = new GameObject("base");
GameObject linkObject = new GameObject("link");
linkObject.transform.parent = baseObject.transform;
UrdfJoint.Create(baseObject, UrdfJoint.JointTypes.Fixed);
UrdfJoint joint = UrdfJointRevolute.Create(linkObject);
ArticulationBody articulationBody = linkObject.GetComponent <ArticulationBody>();
Assert.AreEqual(0, articulationBody.xDrive.target);
joint.UpdateJointState(1);
Assert.AreEqual(1 * Mathf.Rad2Deg, articulationBody.xDrive.target);
Object.DestroyImmediate(baseObject);
}
private void WriteUpdate()
{
urdfJoint.UpdateJointState(newState - prevState);
prevState = newState;
}