unittest/python : add test for visualizer bindings (visitor)

Author: ManifoldFR

unittest/python/CMakeLists.txt

@@ -137,4 +137,7 @@ else()
   message(STATUS "Valgrind not found, memory checks are disabled")
 endif()
 
+pinocchio_add_python_cpp_module(bindings_visualizer PIN_TARGETS pinocchio_visualizers)
+pinocchio_add_lib_unit_test(bindings_visualizer)
+
 add_subdirectory(pybind11)

unittest/python/bindings_visualizer.cpp

@@ -0,0 +1,30 @@
+#include <pinocchio/visualizers/base-visualizer.hpp>
+#include <pinocchio/bindings/python/visualizers/visualizer-visitor.hpp>
+
+namespace bp = boost::python;
+namespace pin = pinocchio;
+using pin::python::VisualizerPythonVisitor;
+using pin::visualizers::BaseVisualizer;
+
+using pin::GeometryModel;
+using pin::Model;
+
+struct DummyVisualizer : public BaseVisualizer
+{
+  using BaseVisualizer::BaseVisualizer;
+  void loadViewerModel() override
+  {
+  }
+  void displayImpl() override
+  {
+  }
+};
+
+BOOST_PYTHON_MODULE(EXT_MODULE_NAME)
+{
+  bp::import("pinocchio");
+
+  bp::class_<DummyVisualizer>("DummyVisualizer", bp::no_init)
+    .def(bp::init<const Model &, const GeometryModel &>())
+    .def(VisualizerPythonVisitor<DummyVisualizer>{});
+}

unittest/python/bindings_visualizer.py

@@ -0,0 +1,20 @@
+import unittest
+
+import pinocchio as pin
+from test_case import PinocchioTestCase as TestCase
+from test_ext_bindings_visualizer import DummyVisualizer
+
+
+class TestBindingsViz(TestCase):
+    def setUp(self):
+        self.model = pin.Model()
+        self.visual = pin.GeometryModel()
+        self.viz = DummyVisualizer(self.model, self.visual)
+
+    def test_getters(self):
+        self.assertEqual(self.model, self.viz.model)
+        self.assertEqual(self.visual, self.viz.visualModel)
+
+
+if __name__ == "__main__":
+    unittest.main()