[test] Python unit tests

test/CMakeLists.txt

@@ -57,3 +57,8 @@ endif(HPP_FCL_HAVE_OCTOMAP)
 ## Benchmark
 add_executable(test-benchmark benchmark.cpp)
 target_link_libraries(test-benchmark hpp-fcl ${Boost_LIBRARIES} utility)
+
+## Python tests
+IF(BUILD_PYTHON_INTERFACE)
+  ADD_SUBDIRECTORY(python_unit)
+ENDIF(BUILD_PYTHON_INTERFACE)

test/python_unit/CMakeLists.txt

+SET(${PROJECT_NAME}_PYTHON_TESTS
+  geometric_shapes
+  )
+
+FOREACH(TEST ${${PROJECT_NAME}_PYTHON_TESTS})
+  ADD_PYTHON_UNIT_TEST("py-${TEST}" "test/python_unit/${TEST}.py" "python")
+ENDFOREACH(TEST ${${PROJECT_NAME}_PYTHON_TESTS})

test/python_unit/geometric_shapes.py

+import unittest
+import eigenpy
+eigenpy.switchToNumpyMatrix()
+import hppfcl
+import numpy as np
+
+class TestGeometricShapes(unittest.TestCase):
+
+    def test_capsule(self):
+        capsule = hppfcl.Capsule(1.,2.)
+        self.assertIsInstance(capsule, hppfcl.Capsule)
+        self.assertIsInstance(capsule, hppfcl.ShapeBase)
+        self.assertIsInstance(capsule, hppfcl.CollisionGeometry)
+        self.assertEqual(capsule.getNodeType(), hppfcl.NODE_TYPE.GEOM_CAPSULE)
+        self.assertEqual(capsule.radius,1.)
+        self.assertEqual(capsule.lz,2.)
+        capsule.radius = 3.
+        capsule.lz = 4.
+        self.assertEqual(capsule.radius,3.)
+        self.assertEqual(capsule.lz,4.)
+
+    def test_box1(self):
+        box = hppfcl.Box(np.matrix([1.,2.,3.]).T)
+        self.assertIsInstance(box, hppfcl.Box)
+        self.assertIsInstance(box, hppfcl.ShapeBase)
+        self.assertIsInstance(box, hppfcl.CollisionGeometry)
+        self.assertEqual(box.getNodeType(), hppfcl.NODE_TYPE.GEOM_BOX)
+        self.assertTrue(np.array_equal(box.halfSide,np.matrix([.5,1.,1.5]).T))
+        box.halfSide = np.matrix([4.,5.,6.]).T
+        self.assertTrue(np.array_equal(box.halfSide,np.matrix([4.,5.,6.]).T))
+
+    def test_box2(self):
+        box = hppfcl.Box(1.,2.,3)
+        self.assertIsInstance(box, hppfcl.Box)
+        self.assertIsInstance(box, hppfcl.ShapeBase)
+        self.assertIsInstance(box, hppfcl.CollisionGeometry)
+        self.assertEqual(box.getNodeType(), hppfcl.NODE_TYPE.GEOM_BOX)
+        self.assertEqual(box.halfSide[0],0.5)
+        self.assertEqual(box.halfSide[1],1.0)
+        self.assertEqual(box.halfSide[2],1.5)
+        box.halfSide[0] = 4.
+        box.halfSide[0] = 5.
+        box.halfSide[0] = 6.
+#         self.assertEqual(box.halfSide[0],4.)
+#         self.assertEqual(box.halfSide[1],5.)
+#         self.assertEqual(box.halfSide[2],6.)
+
+    def test_sphere(self):
+        sphere = hppfcl.Sphere(1.)
+        self.assertIsInstance(sphere, hppfcl.Sphere)
+        self.assertIsInstance(sphere, hppfcl.ShapeBase)
+        self.assertIsInstance(sphere, hppfcl.CollisionGeometry)
+        self.assertEqual(sphere.getNodeType(), hppfcl.NODE_TYPE.GEOM_SPHERE)
+        self.assertEqual(sphere.radius,1.)
+        sphere.radius = 2.
+        self.assertEqual(sphere.radius,2.)
+
+    def test_cylinder(self):
+        cylinder = hppfcl.Cylinder(1.,2.)
+        self.assertIsInstance(cylinder, hppfcl.Cylinder)
+        self.assertIsInstance(cylinder, hppfcl.ShapeBase)
+        self.assertIsInstance(cylinder, hppfcl.CollisionGeometry)
+        self.assertEqual(cylinder.getNodeType(), hppfcl.NODE_TYPE.GEOM_CYLINDER)
+        self.assertEqual(cylinder.radius,1.)
+        self.assertEqual(cylinder.lz,2.)
+
+    def test_cone(self):
+        cone = hppfcl.Cone(1.,2.)
+        self.assertIsInstance(cone, hppfcl.Cone)
+        self.assertIsInstance(cone, hppfcl.ShapeBase)
+        self.assertIsInstance(cone, hppfcl.CollisionGeometry)
+        self.assertEqual(cone.getNodeType(), hppfcl.NODE_TYPE.GEOM_CONE)
+        self.assertEqual(cone.radius,1.)
+        self.assertEqual(cone.lz,2.)
+        cone.radius = 3.
+        cone.lz = 4.
+        self.assertEqual(cone.radius,3.)
+        self.assertEqual(cone.lz,4.)
+
+if __name__ == '__main__':
+    unittest.main()
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