2 import pinocchio
as pin
10 self.assertTrue(np.allclose(
zero(3), v.linear))
11 self.assertTrue(np.allclose(
zero(3), v.angular))
12 self.assertTrue(np.allclose(
zero(6), v.vector))
18 self.assertFalse(np.allclose(
zero(3), v.linear))
19 self.assertFalse(np.allclose(
zero(3), v.angular))
20 self.assertFalse(np.allclose(
zero(6), v.vector))
26 self.assertTrue(np.allclose(
zero(3), v.linear))
27 self.assertTrue(np.allclose(
zero(3), v.angular))
28 self.assertTrue(np.allclose(
zero(6), v.vector))
34 self.assertTrue(np.allclose(v.linear, lin))
37 self.assertTrue(v.linear[1] == 1.0)
43 self.assertTrue(np.allclose(v.angular, ang))
46 self.assertTrue(v.angular[1] == 1.0)
52 self.assertTrue(np.allclose(v.vector, vec))
55 v1 = pin.Motion.Random()
56 v2 = pin.Motion.Random()
57 self.assertTrue(np.allclose((v1 + v2).vector, v1.vector + v2.vector))
58 self.assertTrue(np.allclose((v1 - v2).vector, v1.vector - v2.vector))
62 v = pin.Motion.Random()
63 self.assertTrue(np.allclose((m * v).vector, m.action.dot(v.vector)))
64 self.assertTrue(np.allclose(m.act(v).vector, m.action.dot(v.vector)))
66 np.allclose((m.actInv(v)).vector, np.linalg.inv(m.action).dot(v.vector))
68 self.assertTrue(np.allclose((v ^ v).vector,
zero(6)))
71 m = pin.Motion.Random()
74 m_from_array = pin.Motion(m_array)
76 self.assertTrue(m_from_array == m)
79 for _
in range(100000):
80 v = pin.Motion.Zero() + pin.Motion.Zero()
81 self.assertTrue(np.allclose(v.vector,
zero(6)))
84 if __name__ ==
"__main__":