public void ConstructDefault()
{
RpyAttribute rpy = new RpyAttribute();
Assert.AreEqual(rpy.R, 0);
Assert.AreEqual(rpy.P, 0);
Assert.AreEqual(rpy.Y, 0);
}
public void ConstructOrigin()
{
XyzAttribute xyz = new XyzAttribute(1, 2, 3);
RpyAttribute rpy = new RpyAttribute(4, 5, 6);
Origin origin = new Origin.Builder().SetXyz(xyz).SetRpy(rpy).Build();
Assert.AreEqual(xyz, origin.Xyz);
Assert.AreEqual(rpy, origin.Rpy);
}
public void ConstructRpyOrigin()
{
RpyAttribute rpy = new RpyAttribute(4, 5, 6);
Origin origin = new Origin.Builder().SetRpy(rpy).Build();
Assert.AreEqual(rpy, origin.Rpy);
Assert.AreEqual(0, origin.Xyz.X);
Assert.AreEqual(0, origin.Xyz.Y);
Assert.AreEqual(0, origin.Xyz.Z);
}
public void ConstructRpy()
{
int r = 1;
int p = 2;
int y = 3;
RpyAttribute rpy = new RpyAttribute(r, p, y);
Assert.AreEqual(rpy.R, r);
Assert.AreEqual(rpy.P, p);
Assert.AreEqual(rpy.Y, y);
}
public void EqualsAndHash()
{
RpyAttribute rpy = new RpyAttribute(1, 2, 3);
RpyAttribute same = new RpyAttribute(1, 2, 3);
RpyAttribute diff = new RpyAttribute(3, 2, 1);
Assert.IsTrue(rpy.Equals(rpy));
Assert.IsFalse(rpy.Equals(null));
Assert.IsTrue(rpy.Equals(same));
Assert.IsTrue(same.Equals(rpy));
Assert.IsFalse(rpy.Equals(diff));
Assert.AreEqual(rpy.GetHashCode(), same.GetHashCode());
Assert.AreNotEqual(rpy.GetHashCode(), diff.GetHashCode());
}
/// <summary>
/// Adds a new sensor to the Robot model, creating a joint and link object for the component being added.
/// </summary>
/// <param name="component">The component object being added. MUST NOT BE NULL</param>
/// <param name="parent">The name of the parent link that this component is linked to. MUST NOT BE NULL OR EMPTY</param>
/// <param name="xyz">The XYZ offset of this component from its parent link. MUST NOT BE NULL</param>
/// <param name="rpy">The RPY offset of this component from its parent link. MUST NOT BE NULL</param>
/// <returns><c>true</c> if the component was successfully added, otherwise <c>false</c></returns>
public string AddComponent(Component component, string parent, XyzAttribute xyz, RpyAttribute rpy)
{
Preconditions.IsNotNull(component, "Cannot add a null component to the Robot");
Preconditions.IsNotEmpty(parent, $"Cannot add component '{component.Name}' to the Robot model with missing parent name");
Preconditions.IsNotNull(xyz, $"Cannot add component '{component.Name}' to '{Name}' Robot model with null XYZ offset");
Preconditions.IsNotNull(rpy, $"Cannot add component '{component.Name}' to '{Name}' Robot model with null RPY offset");
if (!this.Links.ContainsKey(parent))
{
//LOGGER.Warn($"Adding component '{component.Name}' to '{Name}' Robot model failed because '{Name}' doesn't contain link called '{parent}'");
return(null);
}
string linkName = GenerateUniqueKey(component.Name, new List <string>(this.Links.Keys));
string jointName = GenerateUniqueKey($"{component.Name}_joint", new List <string>(this.Joints.Keys));
Geometry geometry = (component.Box != null) ? new Geometry(new Box(component.Box.Size))
: new Geometry(new Mesh.Builder(component.FileName).Build());
Visual visual = new Visual.Builder(geometry).Build();
Link link = new Link.Builder(linkName).SetVisual(visual).Build();
Joint joint = new Joint.Builder(jointName, Joint.JointType.Fixed, this.Links[parent], link).Build();
this.Links.Add(link.Name, link);
this.Joints.Add(joint.Name, joint);
return(linkName);
}
/// <summary>
/// Adds a new sensor to the Robot model, creating a joint object for the component being added.
/// </summary>
/// <param name="component">The Robot model object being added. MUST NOT BE NULL</param>
/// <param name="parent">The name of the parent link on this Robot that this component is linked to. MUST NOT BE NULL OR EMPTY</param>
/// <param name="child">The name of the child link on the component Robot that this component is linked by. MUST NOT BE NULL OR EMPTY</param>
/// <param name="xyz">The XYZ offset of this component from its parent link. MUST NOT BE NULL</param>
/// <param name="rpy">The RPY offset of this component from its parent link. MUST NOT BE NULL</param>
/// <returns>The name of the connected Link object if the component was successfully added, otherwise <c>null</c></returns>
public string AddComponent(Robot component, string parent, string child, XyzAttribute xyz, RpyAttribute rpy)
{
Preconditions.IsNotNull(component, "Cannot add a null component to the Robot");
Preconditions.IsNotEmpty(parent, $"Cannot add component '{component.Name}' to the Robot model with missing parent name");
Preconditions.IsNotEmpty(child, $"Cannot add component '{component.Name}' to the Robot model with missing child name");
Preconditions.IsNotNull(xyz, $"Cannot add component '{component.Name}' to '{Name}' Robot model with null XYZ offset");
Preconditions.IsNotNull(rpy, $"Cannot add component '{component.Name}' to '{Name}' Robot model with null RPY offset");
if (!this.Links.ContainsKey(parent))
{
//LOGGER.Warn($"Adding component '{component.Name}' to '{Name}' Robot model failed because '{Name}' doesn't contain link called '{parent}'");
return(null);
}
if (!component.Links.ContainsKey(child))
{
//LOGGER.Warn($"Adding component '{component.Name}' to '{Name}' Robot model failed because '{component.Name}' doesn't contain link called '{child}'");
return(null);
}
string jointName = GenerateUniqueKey($"{component.Name}_joint", new List <string>(this.Joints.Keys));
Joint newJoint = new Joint.Builder(jointName, Joint.JointType.Fixed, this.Links[parent], component.Links[child]).Build();
this.Joints.Add(newJoint.Name, newJoint);
foreach (Link link in component.Links.Values)
{
this.Links.Add(link.Name, link);
}
foreach (Joint joint in component.Joints.Values)
{
this.Joints.Add(joint.Name, joint);
}
return(child);
}
protected bool Equals(RpyAttribute other)
{
return(R.Equals(other.R) && P.Equals(other.P) && Y.Equals(other.Y));
}
/// <summary>
/// Sets the Origin's RpyAttribute.
/// </summary>
/// <param name="rpy">The origin element's fixed axis roll, pitch and yaw. MUST NOT BE NULL</param>
/// <returns>This Origin.Builder instance</returns>
public Builder SetRpy(RpyAttribute rpy)
{
Preconditions.IsNotNull(rpy, "Origin rpy property cannot be set to null");
this.rpy = rpy;
return(this);
}
/// <summary>
/// Creates a new instance of Origin with the specified xyz and rpy attribute values.
/// An Origin.Builder must be used to instantiate an Origin with optional properties as specified.
/// </summary>
/// <param name="xyz">The origin element's x, y, z offset.</param>
/// <param name="rpy">The origin element's fixed axis roll, pitch and yaw.</param>
private Origin(XyzAttribute xyz, RpyAttribute rpy)
{
this.Xyz = xyz;
this.Rpy = rpy;
}
/// <summary>
/// Creates a new instance of Origin with default xyz and rpy attribute values.
/// </summary>
public Origin()
{
this.Xyz = new XyzAttribute();
this.Rpy = new RpyAttribute();
}
