Geometry, GeometryCollision Tests

[at669]

Proposed change(s)

Introduces tests for runtime classes UrdfGeometry and UrdfGeometryCollision.

Useful links (GitHub issues, JIRA tickets, forum threads, etc.)

AIRO-671

Types of change(s)

• [ ] Bug fix
• [ ] New feature
• [ ] Code refactor
• [ ] Documentation update
• [x] Other (please describe): Unit tests

Testing and Verification

Creating Unit tests.

Test Configuration:

• Unity Version: 2020.2.0b9
• Unity machine OS + version: MacOS 10.15.7

Checklist

• [x] Ensured this PR is up-to-date with the dev branch
• [x] Created this PR to target the dev branch
• [x] Followed the style guidelines as described in the Contribution Guidelines
• [x] Added tests that prove my fix is effective or that my feature works
• [ ] Updated the documentation as appropriate

[peifeng-unity]

In addition, would you mind increasing the criteria of the test coverage in Yamato, e.g. increase it to 6% likeif [[ $linecoverage < 6 ]]; then exit 1; fi

[peifeng-unity]

Looks like there are a few methods that are not tested in the Geometry and GeometryCollision. Are you planning to add them in the future PRs?

[at669]

@peifeng-unity: Looks like there are a few methods that are not tested in the Geometry and GeometryCollision. Are you planning to add them in the future PRs?

most of the ones I didn't cover revolve around importing a mesh, with a valid info from an XML node or from file--personally thought it might fit more with integration testing or down-the-line testing since this doesn't currently include URDF files, but i am open to suggestions!