public void SaveAndLoad()
{
string filename = "tests_robotGeometry_SaveAndLoad.xml";
int no_of_stereo_cameras = 2;
robotGeometry geom1 = new robotGeometry();
geom1.CreateStereoCameras(no_of_stereo_cameras, 120, 0, 320, 240, 78, 100, 0);
geom1.SetBodyDimensions(800,700,600);
geom1.SetCentreOfRotation(400, 350, 10);
geom1.SetHeadPosition(400,350, 1000);
geom1.Save(filename);
robotGeometry geom2 = new robotGeometry();
geom2.Load(filename);
Assert.AreEqual(geom1.body_width_mm, geom2.body_width_mm);
Assert.AreEqual(geom1.body_length_mm, geom2.body_length_mm);
Assert.AreEqual(geom1.body_height_mm, geom2.body_height_mm);
Assert.AreEqual(geom1.body_centre_of_rotation_x, geom2.body_centre_of_rotation_x);
Assert.AreEqual(geom1.body_centre_of_rotation_y, geom2.body_centre_of_rotation_y);
Assert.AreEqual(geom1.body_centre_of_rotation_z, geom2.body_centre_of_rotation_z);
Assert.AreEqual(geom1.head_centroid_x, geom2.head_centroid_x);
Assert.AreEqual(geom1.head_centroid_y, geom2.head_centroid_y);
Assert.AreEqual(geom1.head_centroid_z, geom2.head_centroid_z);
for (int cam = 0; cam < no_of_stereo_cameras; cam++)
{
Assert.AreEqual(geom1.baseline_mm[cam], geom2.baseline_mm[cam]);
Assert.AreEqual(geom1.image_width[cam], geom2.image_width[cam]);
Assert.AreEqual(geom1.image_height[cam], geom2.image_height[cam]);
Assert.AreEqual(geom1.FOV_degrees[cam], geom2.FOV_degrees[cam]);
Assert.AreEqual(geom1.stereo_camera_position_x[cam], geom2.stereo_camera_position_x[cam]);
Assert.AreEqual(geom1.stereo_camera_position_y[cam], geom2.stereo_camera_position_y[cam]);
Assert.AreEqual(geom1.stereo_camera_position_z[cam], geom2.stereo_camera_position_z[cam]);
Assert.AreEqual(geom1.stereo_camera_pan[cam], geom2.stereo_camera_pan[cam]);
Assert.AreEqual(geom1.stereo_camera_tilt[cam], geom2.stereo_camera_tilt[cam]);
Assert.AreEqual(geom1.stereo_camera_roll[cam], geom2.stereo_camera_roll[cam]);
}
}
