bindings_fcl_transform.py
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1 import unittest
2 import pinocchio as pin
3 import numpy as np
4 
5 
6 class TestFCLTransformConversion(unittest.TestCase):
7  def test_from_SE3(self):
8  M = pin.SE3.Random()
9  fcl_transform = pin.hppfcl.Transform3f(M)
10 
11  self.assertTrue((M.rotation == fcl_transform.getRotation()).all())
12  self.assertTrue((M.translation == fcl_transform.getTranslation()).all())
13 
14  def test_to_SE3(self):
15  fcl_transform = pin.hppfcl.Transform3f()
16  M = pin.SE3(fcl_transform)
17  self.assertTrue(M.isIdentity())
18 
19 
20 if __name__ == "__main__":
21  if pin.WITH_HPP_FCL_BINDINGS:
22  unittest.main()
bindings_fcl_transform.TestFCLTransformConversion.test_from_SE3
def test_from_SE3(self)
Definition: bindings_fcl_transform.py:7
bindings_fcl_transform.TestFCLTransformConversion
Definition: bindings_fcl_transform.py:6
bindings_fcl_transform.TestFCLTransformConversion.test_to_SE3
def test_to_SE3(self)
Definition: bindings_fcl_transform.py:14


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autogenerated on Sun Jun 16 2024 02:43:06