Inertial_TEST.py: confirm behavior before #422

scpeters · scpeters · commit 29cd3fea7635 · 2022-05-10T11:57:39.000-07:00
Signed-off-by: Steve Peters &lt;scpeters@openrobotics.org&gt;
diff --git a/src/python_pybind11/test/Inertial_TEST.py b/src/python_pybind11/test/Inertial_TEST.py
@@ -94,8 +94,15 @@ def test_setters(self):
 
         # Verify values
         self.assertEqual(inertial.mass_matrix(), m)
+        self.assertEqual(inertial.mass_matrix().mass(), 5.0)
+        self.assertEqual(inertial.mass_matrix().diagonal_moments(), Ixxyyzz)
+        self.assertEqual(inertial.mass_matrix().off_diagonal_moments(), Ixyxzyz)
         self.assertEqual(inertial.pose(), pose)
 
+        # Try setting values of inertial.mass_matrix()
+        self.assertTrue(inertial.mass_matrix().set_mass(6.0))
+        self.assertEqual(inertial.mass_matrix().mass(), 6.0)
+
         # Invalid again if an invalid inertia is set
         mInvalid = MassMatrix3d(-1, Ixxyyzz, Ixyxzyz)
         self.assertFalse(inertial.set_mass_matrix(mInvalid))
