RigidBodyTransform expectedTransform = new RigidBodyTransform(); expectedTransform.setTranslation(1.0, 2.0, 3.0); generator.getRigidyBodyTransform(transform); assertTrue(transform.epsilonEquals(expectedTransform, 1e-10)); expectedTransform = new RigidBodyTransform(); expectedTransform.setTranslation(5.0, 7.0, 9.0); generator.getRigidyBodyTransform(transform); assertTrue(transform.epsilonEquals(expectedTransform, 1e-10)); expectedTransform = new RigidBodyTransform(); expectedTransform.setTranslation(-3.0, 9.0, 11.0); generator.getRigidyBodyTransform(transform); assertTrue(transform.epsilonEquals(expectedTransform, 1e-10)); expectedTransform = new RigidBodyTransform(); expectedTransform.setRotationEulerAndZeroTranslation(0.0, 0.0, 1.7); generator.getRigidyBodyTransform(transform); assertTrue(transform.epsilonEquals(expectedTransform, 1e-10)); expectedTransform = new RigidBodyTransform(); expectedTransform.setRotationEulerAndZeroTranslation(0.0, 1.3, 1.7); generator.getRigidyBodyTransform(transform); assertTrue(transform.epsilonEquals(expectedTransform, 1e-10)); expectedTransform = new RigidBodyTransform(); expectedTransform.setRotationEulerAndZeroTranslation(0.2, 1.3, 1.7); generator.getRigidyBodyTransform(transform); assertTrue(transform.epsilonEquals(expectedTransform, 1e-10));