| Directory: | ./ |
|---|---|
| File: | unittest/geometry-object.cpp |
| Date: | 2025-02-12 21:03:38 |
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| 1 | // | ||
| 2 | // Copyright (c) 2022 INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #include <iostream> | ||
| 6 | |||
| 7 | #include "pinocchio/multibody/model.hpp" | ||
| 8 | #include "pinocchio/multibody/data.hpp" | ||
| 9 | |||
| 10 | #include "pinocchio/multibody/geometry-object.hpp" | ||
| 11 | |||
| 12 | #include <vector> | ||
| 13 | #include <boost/test/unit_test.hpp> | ||
| 14 | |||
| 15 | using namespace pinocchio; | ||
| 16 | |||
| 17 | BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) | ||
| 18 | |||
| 19 |
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4 | BOOST_AUTO_TEST_CASE(test_clone) |
| 20 | { | ||
| 21 |
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2 | hpp::fcl::Sphere * sphere_ptr = new hpp::fcl::Sphere(0.5); |
| 22 |
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2 | GeometryObject::CollisionGeometryPtr sphere_shared_ptr(sphere_ptr); |
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4 | GeometryObject geom_obj("sphere", 0, 0, SE3::Random(), sphere_shared_ptr); |
| 24 | |||
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2 | const GeometryObject geom_obj_clone = geom_obj.clone(); |
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2 | BOOST_CHECK(geom_obj_clone == geom_obj); |
| 27 | |||
| 28 | 2 | sphere_ptr->radius = 1.; | |
| 29 |
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2 | BOOST_CHECK(geom_obj_clone != geom_obj); |
| 30 | 2 | } | |
| 31 | |||
| 32 | BOOST_AUTO_TEST_SUITE_END() | ||
| 33 |