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testing world pose function #80

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merged 1 commit into from
Jul 10, 2020
Merged

testing world pose function #80

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9 changes: 9 additions & 0 deletions tpe/lib/src/Entity.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -135,6 +135,15 @@ math::Pose3d Entity::GetPose() const
return this->dataPtr->pose;
}

//////////////////////////////////////////////////
math::Pose3d Entity::GetWorldPose() const
{
if (this->dataPtr->parent)
return this->dataPtr->pose + this->dataPtr->parent->GetWorldPose();

return this->dataPtr->pose;
}

//////////////////////////////////////////////////
void Entity::SetId(std::size_t _id)
{
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6 changes: 5 additions & 1 deletion tpe/lib/src/Entity.hh
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Expand Up @@ -91,9 +91,13 @@ class IGNITION_PHYSICS_TPELIB_VISIBLE Entity
public: virtual void SetPose(const math::Pose3d &_pose);

/// \brief Get the pose of the entity
/// \return Pose of entity to set to
/// \return Pose of entity
public: virtual math::Pose3d GetPose() const;

/// \brief Get the world pose of the entity
/// \return World pose of entity
public: virtual math::Pose3d GetWorldPose() const;

/// \brief Get a child entity by id
/// \param[in] _id Id of child entity
/// \return Child entity
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10 changes: 10 additions & 0 deletions tpe/lib/src/Link_TEST.cc
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Expand Up @@ -19,6 +19,7 @@

#include "Collision.hh"
#include "Link.hh"
#include "Model.hh"

using namespace ignition;
using namespace physics;
Expand Down Expand Up @@ -47,6 +48,15 @@ TEST(Link, BasicAPI)
EXPECT_EQ(math::Pose3d(10, -0.312675, 2.43845, 1.23686, 0.471978, 0.918989),
link.GetPose());

Model model;
model.SetPose(modelPose);
Entity &linkEnt = model.AddLink();
linkEnt.SetPose(math::Pose3d(0, 0.2, 0.5, 0, 1, 0));
EXPECT_EQ(math::Pose3d(10, -0.312675, 2.43845, 1.23686, 0.471978, 0.918989),
link.GetWorldPose());

// std::cerr << "link entity world pose " << linkEnt.GetWorldPose() << std::endl;

Link link2;
EXPECT_NE(link.GetId(), link2.GetId());
}
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