public void ConstructRobot()
{
string name = "robot";
Dictionary <string, Link> links = new Dictionary <string, Link>();
Dictionary <string, Joint> joints = new Dictionary <string, Joint>();
Robot robot = new Robot(name, links, joints);
Link link1 = new Link.Builder("link1").Build();
Link link2 = new Link.Builder("link2").Build();
Link link3 = new Link.Builder("link3").Build();
Joint joint1 = new Joint.Builder("joint1", Joint.JointType.Continuous, link1, link2).Build();
Joint joint2 = new Joint.Builder("joint2", Joint.JointType.Continuous, link1, link3).Build();
links.Add(link1.Name, link1);
links.Add(link2.Name, link2);
links.Add(link3.Name, link3);
joints.Add(joint1.Name, joint1);
joints.Add(joint2.Name, joint2);
Assert.AreEqual(name, robot.Name);
Assert.AreEqual(links, robot.Links);
Assert.AreEqual(joints, robot.Joints);
foreach (Joint joint in robot.Joints.Values)
{
Assert.IsTrue(robot.Links.ContainsValue(joint.Parent));
Assert.IsTrue(robot.Links.ContainsValue(joint.Child));
}
}
public void EqualsAndHash()
{
Dictionary <string, Link> links = new Dictionary <string, Link>();
Dictionary <string, Link> differentLinks = new Dictionary <string, Link>();
Dictionary <string, Link> mostlySameLinks = new Dictionary <string, Link>();
Dictionary <string, Joint> joints = new Dictionary <string, Joint>();
Dictionary <string, Joint> mostlySameJoints = new Dictionary <string, Joint>();
Dictionary <string, Joint> differentJoints = new Dictionary <string, Joint>();
Link link1 = new Link.Builder("link1").Build();
Link link2 = new Link.Builder("link2").Build();
Link link3 = new Link.Builder("link3").Build();
Joint joint1 = new Joint.Builder("joint1", Joint.JointType.Continuous, link1, link2).Build();
Joint joint2 = new Joint.Builder("joint2", Joint.JointType.Continuous, link1, link3).Build();
Link differentLink1 = new Link.Builder("different_link1").Build();
Link differentLink2 = new Link.Builder("different_link2").Build();
Joint differentJoint = new Joint.Builder("differnt_joint", Joint.JointType.Continuous, differentLink1, differentLink2).Build();
links.Add(link1.Name, link1);
links.Add(link2.Name, link2);
links.Add(link3.Name, link3);
joints.Add(joint1.Name, joint1);
joints.Add(joint2.Name, joint2);
mostlySameLinks.Add(link1.Name, link1);
mostlySameLinks.Add(link2.Name, link2);
mostlySameJoints.Add(joint1.Name, joint1);
differentLinks.Add(differentLink1.Name, differentLink1);
differentLinks.Add(differentLink2.Name, differentLink2);
differentJoints.Add(differentJoint.Name, differentJoint);
Robot robot = new Robot("robot", links, joints);
Robot same1 = new Robot("robot", links, joints);
Robot same2 = new Robot("robot", new Dictionary <string, Link>(links), new Dictionary <string, Joint>(joints));
Robot diff1 = new Robot("different_robot", links, joints);
Robot diff2 = new Robot("robot", differentLinks, differentJoints);
Robot diff3 = new Robot("robot", links, mostlySameJoints);
Robot diff4 = new Robot("robot", mostlySameLinks, joints);
Assert.IsTrue(robot.Equals(robot));
Assert.IsFalse(robot.Equals(null));
Assert.IsTrue(robot.Equals(same1));
Assert.IsTrue(robot.Equals(same2));
Assert.IsTrue(same1.Equals(robot));
Assert.IsTrue(same2.Equals(robot));
Assert.IsFalse(robot.Equals(diff1));
Assert.IsFalse(robot.Equals(diff2));
Assert.IsFalse(robot.Equals(diff3));
Assert.IsFalse(robot.Equals(diff4));
Assert.AreEqual(robot.GetHashCode(), robot.GetHashCode());
Assert.AreEqual(robot.GetHashCode(), same1.GetHashCode());
Assert.AreEqual(robot.GetHashCode(), same2.GetHashCode());
Assert.AreNotEqual(robot.GetHashCode(), diff1.GetHashCode());
Assert.AreNotEqual(robot.GetHashCode(), diff2.GetHashCode());
Assert.AreNotEqual(robot.GetHashCode(), diff3.GetHashCode());
Assert.AreNotEqual(robot.GetHashCode(), diff4.GetHashCode());
}
public void ConstructLinkNameOnly()
{
string name = "linkName";
Link link = new Link.Builder(name).Build();
Assert.AreEqual(name, link.Name);
Assert.IsNull(link.Inertial);
Assert.AreEqual(0, link.Visual.Count);
Assert.AreEqual(0, link.Collision.Count);
}
public static void Initialize(TestContext context)
{
Link parent = new Link.Builder(PARENT_JOINT_NAME).Build();
Link child = new Link.Builder(CHILD_JOINT_NAME).Build();
Joint mimic = new Joint.Builder(MIMIC_JOINT_NAME, Joint.JointType.Continuous, parent, child).Build();
linkDictionary.Add(parent.Name, parent);
linkDictionary.Add(child.Name, child);
jointDictionary.Add(mimic.Name, mimic);
}
public void ConstructLinkTwoOfThreeBuilderSetters()
{
string name = "linkName";
Inertial inertial = new Inertial(new Mass(1), new Inertia(1, 1, 1, 1, 1, 1));
List<Collision> collisions = new List<Collision>();
Link link = new Link.Builder(name).SetInertial(inertial).SetCollision(collisions).Build();
Assert.AreEqual(name, link.Name);
Assert.AreEqual(inertial, link.Inertial);
Assert.AreEqual(0, link.Visual.Count);
Assert.AreEqual(collisions, link.Collision);
}
public void ConstructLinkChainBuilderSetters()
{
string name = "linkName";
Inertial inertial = new Inertial(new Mass(1), new Inertia(1, 1, 1, 1, 1, 1));
Visual visual = new Visual.Builder(new Geometry(new Sphere(1))).Build();
List<Collision> collisions = new List<Collision>();
Link link = new Link.Builder(name).SetInertial(inertial).SetVisual(visual).SetCollision(collisions).Build();
Assert.AreEqual(name, link.Name);
Assert.AreEqual(inertial, link.Inertial);
Assert.AreEqual(visual, link.Visual[0]);
Assert.AreEqual(collisions, link.Collision);
}
protected Configuration Deploy()
{
for (int i = 0; i < players.Length; ++i)
{
Player player = players[i];
player.SetID(i);
links[i] = new Link.Builder()
.IP(peerIPs[i])
.Port(peerPorts[i])
.Bind(player.ShouldBind())
.ReceiveTimeout(receiveTimeout)
.SendTimeout(sendTimeout)
.Build();
threading.Submit(i, new ThreadStart(player.Replicate));
}
return(this);
}
public void ToStringRobot()
{
Dictionary <string, Link> links = new Dictionary <string, Link>();
Dictionary <string, Joint> joints = new Dictionary <string, Joint>();
Robot robot = new Robot("robo", links, joints);
Link link1 = new Link.Builder("link1").Build();
Link link2 = new Link.Builder("link2").Build();
Joint joint1 = new Joint.Builder("joint1", Joint.JointType.Fixed, link1, link2).Build();
links.Add(link1.Name, link1);
links.Add(link2.Name, link2);
joints.Add(joint1.Name, joint1);
Assert.AreEqual("<robot name=\"robo\">\r\n<link name=\"link1\"/>\r\n<link name=\"link2\"/>\r\n<joint name=\"joint1\" type=\"fixed\">\r\n<parent link=\"link1\"/>\r\n<child link=\"link2\"/>\r\n</joint>\r\n</robot>",
robot.ToString().Replace(" ", ""));
}
public void EqualsAndHash()
{
Inertial inertial = new Inertial(new Mass(1), new Inertia(1, 1, 1, 1, 1, 1));
Visual visual = new Visual.Builder(new Geometry(new Sphere(1))).Build();
List<Visual> visualList = new List<Visual>();
List<Visual> diffVisualList = new List<Visual>();
List<Collision> collisionList = new List<Collision>();
visualList.Add(visual);
diffVisualList.Add(visual);
diffVisualList.Add(new Visual.Builder(new Geometry(new Box(new SizeAttribute(1, 2, 3)))).Build());
Link link = new Link.Builder("link").SetInertial(inertial).SetVisual(visual).SetCollision(collisionList).Build();
Link same1 = new Link.Builder("link").SetInertial(inertial).SetVisual(visual).SetCollision(collisionList).Build();
Link same2 = new Link.Builder("link").SetInertial(inertial).SetVisual(visualList).SetCollision(collisionList).Build();
Link same3 = new Link.Builder("link").SetInertial(inertial).SetVisual(visualList).Build();
Link diff1 = new Link.Builder("different_link").SetInertial(inertial).SetVisual(visual).SetCollision(collisionList).Build();
Link diff2 = new Link.Builder("link").SetVisual(visual).SetCollision(collisionList).Build();
Link diff3 = new Link.Builder("link").SetInertial(inertial).SetCollision(collisionList).Build();
Link diff4 = new Link.Builder("link").SetInertial(inertial).SetVisual(diffVisualList).SetCollision(collisionList).Build();
Link diff5 = new Link.Builder("link").Build();
Assert.IsTrue(link.Equals(link));
Assert.IsFalse(link.Equals(null));
Assert.IsTrue(link.Equals(same1));
Assert.IsTrue(link.Equals(same2));
Assert.IsTrue(link.Equals(same3));
Assert.IsTrue(same1.Equals(link));
Assert.IsTrue(same2.Equals(link));
Assert.IsTrue(same3.Equals(link));
Assert.IsFalse(link.Equals(diff1));
Assert.IsFalse(link.Equals(diff2));
Assert.IsFalse(link.Equals(diff3));
Assert.IsFalse(link.Equals(diff4));
Assert.IsFalse(link.Equals(diff5));
Assert.AreEqual(link.GetHashCode(), link.GetHashCode());
Assert.AreEqual(link.GetHashCode(), same1.GetHashCode());
Assert.AreEqual(link.GetHashCode(), same2.GetHashCode());
Assert.AreEqual(link.GetHashCode(), same3.GetHashCode());
Assert.AreNotEqual(link.GetHashCode(), diff1.GetHashCode());
Assert.AreNotEqual(link.GetHashCode(), diff2.GetHashCode());
Assert.AreNotEqual(link.GetHashCode(), diff3.GetHashCode());
Assert.AreNotEqual(link.GetHashCode(), diff4.GetHashCode());
Assert.AreNotEqual(link.GetHashCode(), diff5.GetHashCode());
}
public void ConstructLink()
{
string name = "linkName";
Inertial inertial = new Inertial(new Mass(1), new Inertia(1, 1, 1, 1, 1, 1));
List<Visual> visuals = new List<Visual>();
visuals.Add(new Visual.Builder(new Geometry(new Sphere(1))).Build());
List<Collision> collisions = new List<Collision>();
Link.Builder builder = new Link.Builder(name);
builder.SetInertial(inertial);
builder.SetVisual(visuals);
builder.SetCollision(collisions);
Link link = builder.Build();
Assert.AreEqual(name, link.Name);
Assert.AreEqual(inertial, link.Inertial);
Assert.AreEqual(visuals, link.Visual);
Assert.AreEqual(visuals[0], link.Visual[0]);
Assert.AreEqual(collisions, link.Collision);
}
/// <summary>
/// Parses a URDF <link> element from XML.
/// </summary>
/// <param name="node">The XML node of a <link> element</param>
/// <returns>A Link object parsed from the XML</returns>
public override Link Parse(XmlNode node)
{
ValidateXmlNode(node);
XmlAttribute nameAttribute = GetAttributeFromNode(node, UrdfSchema.NAME_ATTRIBUTE_NAME);
XmlElement inertialElement = GetElementFromNode(node, UrdfSchema.INERTIAL_ELEMENT_NAME);
XmlNodeList Visuals = node.SelectNodes(UrdfSchema.VISUAL_ELEMENT_NAME);
XmlNodeList collisionElements = node.SelectNodes(UrdfSchema.COLLISION_ELEMENT_NAME);
Link.Builder builder;
if (nameAttribute == null)
{
LogMissingRequiredAttribute(UrdfSchema.NAME_ATTRIBUTE_NAME);
builder = new Link.Builder(Link.DEFAULT_NAME);
}
else
{
builder = new Link.Builder(nameAttribute.Value);
}
if (inertialElement != null)
{
builder.SetInertial(this.inertialParser.Parse(inertialElement));
}
if (Visuals != null)
{
builder.SetVisual(ParseVisuals(Visuals));
}
if (collisionElements != null)
{
builder.SetCollision(ParseCollisions(collisionElements));
}
return(builder.Build());
}
public void ConstructLinkNoName()
{
Link link = new Link.Builder("").Build();
}
public void BuilderNullCollision()
{
Collision collision = null;
Link link = new Link.Builder("link").SetCollision(collision).Build();
}
private Joint.Builder ConstructBuilder(XmlAttribute nameAttribute, XmlAttribute typeAttribute,
XmlElement parentElement, XmlElement childElement)
{
string name;
Joint.JointType type;
Link parent;
Link child;
if (nameAttribute == null)
{
LogMissingRequiredAttribute(UrdfSchema.NAME_ATTRIBUTE_NAME);
name = Joint.DEFAULT_NAME;
}
else
{
name = nameAttribute.Value;
}
if (typeAttribute == null)
{
LogMissingRequiredAttribute(UrdfSchema.JOINT_TYPE_ATTRIBUTE_NAME);
type = Joint.JointType.Unknown;
}
else
{
type = GetJointTypeFromName(typeAttribute.Value);
}
if (parentElement == null)
{
LogMissingRequiredElement(UrdfSchema.PARENT_ELEMENT_NAME);
parent = new Link.Builder(Link.DEFAULT_NAME).Build();
}
else
{
string parentLinkName = this.parentParser.Parse(parentElement);
if (!this.linkDictionary.ContainsKey(parentLinkName))
{
//Logger.Warn("Unknown link name specified as <joint> parent: {0}", parentLinkName);
parent = new Link.Builder(parentLinkName).Build();
}
else
{
parent = this.linkDictionary[parentLinkName];
}
}
if (childElement == null)
{
LogMissingRequiredElement(UrdfSchema.CHILD_ELEMENT_NAME);
child = new Link.Builder(Link.DEFAULT_NAME).Build();
}
else
{
string childLinkName = this.childParser.Parse(childElement);
if (!this.linkDictionary.ContainsKey(childLinkName))
{
//Logger.Warn("Unknown link name specified as <joint> child: {0}", childLinkName);
child = new Link.Builder(childLinkName).Build();
}
else
{
child = this.linkDictionary[childLinkName];
}
}
return(new Joint.Builder(name, type, parent, child));
}
public void BuilderNullCollisionList()
{
List<Collision> collision = null;
Link link = new Link.Builder("link").SetCollision(collision).Build();
}
public void BuilderNullInertial()
{
Link link = new Link.Builder("link").SetInertial(null).Build();
}
public void BuilderNullVisualList()
{
List<Visual> visual = null;
Link link = new Link.Builder("link").SetVisual(visual).Build();
}
public void BuilderNullVisual()
{
Visual visual = null;
Link link = new Link.Builder("link").SetVisual(visual).Build();
}
