@Ignore @Test public void testUniqueNaming() { Random random = new Random(13L); ReferenceFrame someFrame = EuclidFrameRandomTools.nextReferenceFrame(random); String frameName = someFrame.getName(); ReferenceFrame parent = someFrame.getParent(); try { ReferenceFrameTools.constructFrameWithUnchangingTransformToParent(frameName, parent, new RigidBodyTransform()); fail("Should have thrown a RuntimeException"); } catch (RuntimeException e) { // good } ReferenceFrameTools.removeFrame(someFrame); someFrame = ReferenceFrameTools.constructFrameWithUnchangingTransformToParent(frameName, parent, new RigidBodyTransform()); someFrame.remove(); someFrame = ReferenceFrameTools.constructFrameWithUnchangingTransformToParent(frameName, parent, new RigidBodyTransform()); ReferenceFrameTools.clearFrameTree(someFrame); someFrame = ReferenceFrameTools.constructFrameWithUnchangingTransformToParent(frameName, parent, new RigidBodyTransform()); ReferenceFrameTools.clearWorldFrameTree(); ReferenceFrameTools.constructFrameWithUnchangingTransformToParent(frameName, parent, new RigidBodyTransform()); }