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// |
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// Copyright (c) 2022 INRIA |
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// |
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#include <iostream> |
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#include "pinocchio/multibody/model.hpp" |
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#include "pinocchio/multibody/data.hpp" |
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#include "pinocchio/multibody/geometry-object.hpp" |
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#include <vector> |
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#include <boost/test/unit_test.hpp> |
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using namespace pinocchio; |
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BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) |
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BOOST_AUTO_TEST_CASE(test_clone) |
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{ |
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hpp::fcl::Sphere * sphere_ptr = new hpp::fcl::Sphere(0.5); |
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GeometryObject::CollisionGeometryPtr sphere_shared_ptr(sphere_ptr); |
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GeometryObject geom_obj("sphere", 0, 0, SE3::Random(), sphere_shared_ptr); |
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const GeometryObject geom_obj_clone = geom_obj.clone(); |
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BOOST_CHECK(geom_obj_clone == geom_obj); |
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sphere_ptr->radius = 1.; |
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BOOST_CHECK(geom_obj_clone != geom_obj); |
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} |
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BOOST_AUTO_TEST_SUITE_END() |
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