base package
Submodules
base.armature_testing module
This script tests the KUKA LWR arm, both the data and service api
-
class
ArmatureTest
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
Defines the test scenario, using the Builder API.
-
test_ik_immediate
()[source]
-
test_ik_motion
()[source]
-
test_immediate_api
()[source]
Tests the services that have an immediate result
(no speed limit taken into account)
-
test_joints_names
()[source]
-
test_motion_services
()[source]
Tests the services that have take some time to move
(joint speed limit taken into account)
-
test_object_attach
()[source]
Checks that attached object are indeed attached at the right place.
-
test_trajectory
()[source]
base.attitude_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class
AttitudeTest
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
send_angles
(yaw, pitch, roll)[source]
-
setUpEnv
()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_attitude
()[source]
Test if we can connect to the pose data stream, and read from it.
base.barometer_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class
BarometerTest
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_read_barometer
()[source]
Test if we can connect to the pose data stream, and read from it.
-
send_pose
(s, x, y, z)[source]
base.base_testing module
This script tests some of the base functionalities of MORSE.
-
class
BaseTest
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
Defines the test scenario, using the Builder API.
-
test_list_robots
()[source]
Tests the simulator can return the list of robots
This test is guaranteed to be started only when the simulator
is ready.
-
test_socket_request_parser_resilience
()[source]
Tests that the socket request parser is resilient to
useless whitespaces.
base.battery_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class
BatteryTest
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_read_battery
()[source]
Test if we can connect to the pose data stream, and read from it.
-
send_pose
(s, x, y)[source]
base.builder_wheeled_robot module
This script tests some of the base functionalities of MORSE.
-
class
BuilderWheeledRobotTest
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
Defines the test scenario, using the Builder API.
-
test_correct_position
()[source]
Tests the simulator can return the list of robots
This test is guaranteed to be started only when the simulator
is ready.
base.communication_service_testing module
-
class
Communication_Service_Testing
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
Defines the test scenario, using the Builder API.
-
test_semantic_camera
()[source]
This test is guaranteed to be started only when the simulator
is ready.
base.destination_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class
DestinationTest
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test
()[source]
-
send_goal
(s, x, y, z)[source]
base.drag_testing module
This script tests some of the base functionalities of MORSE.
-
class
DragTest
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
Defines the test scenario, using the Builder API.
-
test_drag
()[source]
The idea between the test is to verify that a robot against
the wind is going slower than another one, using the same force.
The acceleration stay positive in both case.
-
send_force_x
(actuator, fx)[source]
base.ecef_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class
ECEFModifierTest
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_ecef_modifier
()[source]
Test if we can connect to the pose data stream, and read from it.
base.external_force_testing module
This script tests some of the base functionalities of MORSE.
-
class
ExternalForceTest
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
Defines the test scenario, using the Builder API.
-
test_external_force
()[source]
The idea between the test is to verify that a robot against
the wind is going slower than another one, using the same force.
The acceleration stay positive in both case.
-
send_force_x
(actuator, fx)[source]
base.feet_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class
FeetModifierTest
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_feet_modifier
()[source]
Test if we can connect to the pose data stream, and read from it.
base.geodetic_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class
GeodeticModifierTest
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_geodetic_modifier
()[source]
Test if we can connect to the pose data stream, and read from it.
base.gps_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class
GPSTest
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_read_gps
()[source]
Test if we can connect to the pose data stream, and read from it.
base.gripper_testing module
This script tests the KUKA LWR arm, both the data and service api
-
class
gripperTest
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
Defines the test scenario, using the Builder API.
-
test_gripper
()[source]
This test is guaranteed to be started only when the simulator
is ready.
-
send_pose
(s, morse, x, y, yaw)[source]
base.gyroscope_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class
GyroTest
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_read_gyro
()[source]
Test if we can connect to the pose data stream, and read from it.
base.imu_noise_testing module
This script tests the several Noise modifiers
-
class
NoiseTest
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_noised_imu
()[source]
Test if the IMU data is noised
base.infrared_testing module
This script tests the Infrared range sensor in MORSE.
-
class
InfraredTest
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
Defines the test scenario.
-
test_infrared
()[source]
This test is guaranteed to be started only when the simulator
is ready.
base.light_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class
LightTest
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_light
()[source]
base.magnetometer_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class
MagnemoterTest
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_geodetic_modifier
()[source]
Test if we can connect to the pose data stream, and read from it.
base.multiple_ptu_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class
MultiplePTUTest
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
Non regression test for #536
PTU related component are really tested in ptu_testing.py
-
setUpEnv
()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_datastream
()[source]
Test if we can connect to the pose data stream, and read from it.
-
send_angles
(s, pan, tilt)[source]
base.ned_testing module
This script tests the NED modifier.
-
class
NedTest
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_ned_pose
()[source]
Test if the NED conversion is correctly done
base.odometry_testing module
This script tests some of the base functionalities of MORSE.
-
class
OdometryTest
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
clear_datas
(x, y, yaw)[source]
-
odometry_test_helper
(morse, v, w, t)[source]
-
record_datas
(record)[source]
-
setUpEnv
()[source]
Defines the test scenario, using the Builder API.
-
test_odometry
()[source]
This test is guaranteed to be started only when the simulator
is ready.
-
verify
(expected_x, expected_y, expected_yaw)[source]
base.orientation_speed_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class
OrientationTest
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_orientation
()[source]
Test if we can connect to the pose data stream, and read from it.
-
send_angles
(s, yaw, pitch, roll)[source]
base.orientation_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class
OrientationTest
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_orientation
()[source]
Test if we can connect to the pose data stream, and read from it.
-
send_angles
(s, yaw, pitch, roll)[source]
base.pose_noise_testing module
This script tests the several Noise modifiers
-
class
NoiseTest
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_noised_gps
()[source]
Test if the GPS data is noised
-
test_noised_gyro
()[source]
Test if the Gyroscope data is noised
-
test_noised_odometry
()[source]
Test if the odometry data is noised
-
test_noised_pose
()[source]
Test if the Pose data is noised
base.pose_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class
PoseTest
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_base_service_connection
()[source]
Simply tests if the simulator is reachable by its socket interface.
-
test_get_pose_streams_service
()[source]
Tests if we can retrieve the list of published data streams.
-
test_read_pose
()[source]
Test if we can connect to the pose data stream, and read from it.
base.ptu_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class
PTUTest
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_datastream
()[source]
Test if we can connect to the pose data stream, and read from it.
-
test_lookat
()[source]
Test if the PTU can successfully orient itself towards an
absolute x,y,z position and towards a given object.
-
test_set_service
()[source]
Test if we can connect to the pose data stream, and read from it.
-
send_angles
(s, pan, tilt)[source]
base.radar_altimeter_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class
RadarAltimeterTest
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_teleport
()[source]
Test if we can connect to the pose data stream, and read from it.
base.renaming_testing module
This script tests some of the base functionalities of MORSE.
-
class
RenamingTest
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
Defines the test scenario, using the Builder API.
-
test_renaming
()[source]
Tests the simulator can return the list of robots
This test is guaranteed to be started only when the simulator
is ready.
base.rotorcraft_waypoint_testing module
This script tests the waypoints actuator, both the data and service api
-
class
RotorcraftWaypoints_Test
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
Defines the test scenario, using the Builder API.
-
test_waypoint_controller
()[source]
This test is guaranteed to be started only when the simulator
is ready.
-
test_waypoint_service_controller
()[source]
base.search_and_rescue_testing module
-
class
SearchAndRescueTest
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_victim_interface
()[source]
-
send_dest
(s, morse, x, y, yaw)[source]
base.semantic_camera_relative_testing module
This script tests the Semantic Camera sensor and its ‘relative’ property in MORSE.
-
class
Semantic_Camera_Test
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
Defines the test scenario, using the Builder API.
-
test_semantic_camera
()[source]
This test is guaranteed to be started only when the simulator
is ready.
-
send_dest
(s, morse, x, y, yaw)[source]
base.semantic_camera_tag_testing module
This script tests the Semantic Camera sensor and its ‘tag’ property in MORSE.
-
class
Semantic_Camera_Test
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
Defines the test scenario, using the Builder API.
-
test_semantic_camera
()[source]
This test is guaranteed to be started only when the simulator
is ready.
-
send_dest
(s, morse, x, y, yaw)[source]
base.semantic_camera_testing module
This script tests the Semantic Camera sensor in MORSE.
-
class
Semantic_Camera_Test
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
Defines the test scenario, using the Builder API.
-
test_semantic_camera
()[source]
This test is guaranteed to be started only when the simulator
is ready.
-
send_dest
(s, morse, x, y, yaw)[source]
base.sick_testing module
This script tests the SICK laser range sensor in MORSE.
-
class
Sick_Test
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
Defines the test scenario, using the Builder API.
-
test_sick
()[source]
This test is guaranteed to be started only when the simulator
is ready.
base.socket_sync_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class
SocketSyncTest
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_read_clock
()[source]
base.stabilized_quadrirotor_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class
StabilizedQuadrirotorTest
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_phi_c_control
()[source]
-
test_psi_c_control
()[source]
-
test_theta_c_control
()[source]
-
send_ctrl
(s, theta, phi, psi, h)[source]
base.steer_force_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class
SteerForceTest
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test
()[source]
-
send_force
(s, steer, force, brake)[source]
base.teleport_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class
TeleportTest
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_teleport
()[source]
Test if we can connect to the pose data stream, and read from it.
-
send_pose
(s, x, y, z, yaw, pitch, roll)[source]
base.thermometer_testing module
-
class
ThermometerTest
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_temperature
()[source]
-
send_dest
(s, morse, x, y, yaw)[source]
base.time_scale_testing module
This script tests some of the base functionalities of MORSE.
-
class
TimeScale_Test
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseMoveTestCase
-
count_value
(value)[source]
-
send_speed
(s, morse, v, w, t)[source]
Send the speed (v, w) to the robot controller during real-time t
seconds
Return the simulated time elapsed (in sec)
-
setUpEnv
()[source]
Defines the test scenario, using the Builder API.
-
test_time_scale
()[source]
base.utm_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class
UTMModifierTest
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_read_gps
()[source]
Test if we can connect to the pose data stream, and read from it.
base.video_camera_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class
CameraTest
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
assertAnglesAlmostEqual
(a, b, delta=0.0)[source]
-
assert_image_file_diff_less
(filepath, image8u, delta)[source]
-
assert_images_diff_greater
(imageA, imageB, delta)[source]
-
assert_images_diff_less
(imageA, imageB, delta)[source]
-
assert_orientation
(gyroscope_stream, yaw, pitch, roll, precision)[source]
-
setUpEnv
()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_camera
()[source]
Test if we can connect to the pose data stream, and read from it.
- The test has been constructed in the following way
- put the robot in a specific position and takes an
image
- using an editor image, look for the rgb value of some
specific zone, and setup some threshold
- retrieve the threshold in the scene and tests it is
mostly invariant
- It will allow to detect that :
- the camera is broken and don’t have a real image
- blender has changed the way they transmit the image
- blender changes the orientation of their image
- possibly other bugs
-
are_angles_almost_equal
(a, b, delta)[source]
-
capture8u
(cam_stream, image_path=None)[source]
-
diff_image
(imageA, imageB, debug=None)[source]
-
flush_camera
(camera_stream, morse, timeout)[source]
-
load_image
(filepath, size)[source]
-
normalize_radians
(angle)[source]
-
read_pgm_ascii
(filepath)[source]
-
rgba2gray8u
(image_rgba_base64)[source]
-
rotate_robot_and_wait
(orientation_stream, gyroscope_stream, morse, yaw, timeout, precision)[source]
-
save_image
(filepath, image8u)[source]
-
save_pgm_ascii
(filepath, image8u, width, height)[source]
-
send_angles
(orientation_stream, yaw, pitch, roll)[source]
-
wait_yaw
(gyroscope_stream, morse, timeout, yaw, precision)[source]
base.waypoint_testing module
This script tests the waypoints actuator, both the data and service api
-
class
Waypoints_Test
(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv
()[source]
Defines the test scenario, using the Builder API.
-
test_waypoint_datastream
()[source]
This test is guaranteed to be started only when the simulator
is ready.
-
test_waypoint_services
()[source]
Module contents