Added python tests for new MassMatrix() function for Box, sphere & Cy…

…linder Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
gazebosim · Jun 27, 2023 · 114d39c · 114d39c
1 parent 22da159
commit 114d39c
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diff --git a/src/python_pybind11/test/Box_TEST.py b/src/python_pybind11/test/Box_TEST.py
@@ -401,6 +401,11 @@ def test_mass(self):
         self.assertEqual(expectedMassMat, massMat)
         self.assertEqual(expectedMassMat.mass(), massMat.mass())
 
+        massMat2 = box.mass_matrix()
+        self.assertEqual(expectedMassMat, massMat2)
+        self.assertEqual(expectedMassMat.diagonal_moments(), massMat2.diagonal_moments())
+        self.assertEqual(expectedMassMat.mass(), massMat2.mass())
+
 
 if __name__ == '__main__':
     unittest.main()
diff --git a/src/python_pybind11/test/Cylinder_TEST.py b/src/python_pybind11/test/Cylinder_TEST.py
@@ -114,6 +114,11 @@ def test_mass(self):
         self.assertEqual(expectedMassMat, massMat)
         self.assertEqual(expectedMassMat.mass(), massMat.mass())
 
+        massMat2 = cylinder.mass_matrix()
+        self.assertEqual(expectedMassMat, massMat2)
+        self.assertEqual(expectedMassMat.diagonal_moments(), massMat2.diagonal_moments())
+        self.assertEqual(expectedMassMat.mass(), massMat2.mass())
+
 
 if __name__ == '__main__':
     unittest.main()
diff --git a/src/python_pybind11/test/Sphere_TEST.py b/src/python_pybind11/test/Sphere_TEST.py
@@ -108,6 +108,11 @@ def test_mass(self):
         self.assertEqual(expectedMassMat, massMat)
         self.assertEqual(expectedMassMat.mass(), massMat.mass())
 
+        massMat2 = sphere.mass_matrix()
+        self.assertEqual(expectedMassMat, massMat2)
+        self.assertEqual(expectedMassMat.diagonal_moments(), massMat2.diagonal_moments())
+        self.assertEqual(expectedMassMat.mass(), massMat2.mass())
+
     def test_volume_below(self):
 
         r = 2