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geometry_frame_test.cc
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geometry_frame_test.cc
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#include "drake/geometry/geometry_frame.h"
#include <memory>
#include <gtest/gtest.h>
#include "drake/common/eigen_types.h"
#include "drake/common/test_utilities/expect_throws_message.h"
namespace drake {
namespace geometry {
namespace {
using std::make_unique;
using std::move;
GTEST_TEST(GeometryFrameTest, Constructor) {
// Case: use default frame group.
{
GeometryFrame frame("frame");
EXPECT_EQ(frame.frame_group(), 0);
}
// Case: user-specified, valid frame group.
{
GeometryFrame frame("frame", 17);
EXPECT_EQ(frame.frame_group(), 17);
}
// Case: user-specified, invalid frame group.
{
DRAKE_EXPECT_THROWS_MESSAGE(
GeometryFrame("name", -1),
"GeometryFrame requires a non-negative frame group");
}
}
GTEST_TEST(GeometryFrameTest, IdCopies) {
GeometryFrame frame_a{"frame_a"};
GeometryFrame frame_b{frame_a};
EXPECT_EQ(frame_a.id(), frame_b.id());
GeometryFrame frame_c{"frame_c"};
EXPECT_NE(frame_c.id(), frame_a.id());
frame_c = frame_a;
EXPECT_EQ(frame_c.id(), frame_a.id());
}
} // namespace
} // namespace geometry
} // namespace drake