bindings_data.py

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import unittest
import pinocchio as pin

from test_case import PinocchioTestCase as TestCase

class TestData(TestCase):
    def setUp(self):
        self.model = pin.buildSampleModelHumanoidRandom()
        self.data = self.model.createData()

    def test_copy(self):
        data2 = self.data.copy()
        q = pin.neutral(self.model)
        pin.forwardKinematics(self.model,data2,q)
        jointId = self.model.njoints-1
        self.assertNotEqual(self.data.oMi[jointId], data2.oMi[jointId])

        data3 = data2.copy()
        self.assertEqual(data2.oMi[jointId], data3.oMi[jointId])

    def test_std_vector_field(self):
        model = self.model
        data = self.data

        q = pin.neutral(model)
        pin.centerOfMass(model,data,q)

        com_list = data.com.tolist()
        com = data.com[0]
        with self.assertRaises(Exception) as context:
          com = data.com[len(data.com)+10]
          print("com: ",com)

        self.assertTrue('Index out of range' in str(context.exception))

        with self.assertRaises(Exception) as context:
          com = data.com['1']
          print("com: ",com)

        self.assertTrue('Invalid index type' in str(context.exception))

    def test_pickle(self):
        import pickle

        data = self.data
        filename = "data.pickle"
        with open(filename, 'wb') as f:
          pickle.dump(data,f)

        with open(filename, 'rb') as f:
          data_copy = pickle.load(f)

        self.assertTrue(data == data_copy)

if __name__ == '__main__':
    unittest.main()