geometry-object.cpp
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1 //
2 // Copyright (c) 2022 INRIA
3 //
4 
5 #include <iostream>
6 
9 
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 
20 {
21  hpp::fcl::Sphere * sphere_ptr = new hpp::fcl::Sphere(0.5);
22  GeometryObject::CollisionGeometryPtr sphere_shared_ptr(sphere_ptr);
23  GeometryObject geom_obj("sphere", 0, 0, SE3::Random(), sphere_shared_ptr);
24 
25  const GeometryObject geom_obj_clone = geom_obj.clone();
26  BOOST_CHECK(geom_obj_clone == geom_obj);
27 
28  sphere_ptr->radius = 1.;
29  BOOST_CHECK(geom_obj_clone != geom_obj);
30 }
31 
32 BOOST_AUTO_TEST_SUITE_END()
model.hpp
hpp::fcl::Sphere
display-shapes-meshcat.geom_obj
geom_obj
Definition: display-shapes-meshcat.py:25
pinocchio::GeometryObject
Definition: multibody/geometry-object.hpp:87
Sphere
Sphere()
hpp::fcl::Sphere::radius
FCL_REAL radius
data.hpp
geometry-object.hpp
pinocchio::SE3Tpl::Random
static SE3Tpl Random()
Definition: spatial/se3-tpl.hpp:154
BOOST_AUTO_TEST_CASE
BOOST_AUTO_TEST_CASE(test_clone)
Definition: geometry-object.cpp:19
pinocchio::GeometryObject::CollisionGeometryPtr
std::shared_ptr< fcl::CollisionGeometry > CollisionGeometryPtr
Definition: multibody/geometry-object.hpp:102
pinocchio
Main pinocchio namespace.
Definition: timings.cpp:27


pinocchio
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autogenerated on Sun Dec 22 2024 03:41:09