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); }