base package

Submodules

base.accelerometer_testing module

This script tests some of the base functionalities of MORSE.

class Accelero_Test(methodName='runTest')

Bases: morse.testing.testing.MorseMoveTestCase

assert_accel_almost_null(acc, idx)

setUpEnv()

Defines the test scenario, using the Builder API.

test_accel_sensor()

base.airspeed_testing module

This script tests some of the base functionalities of MORSE.

class Airspeed_Test(methodName='runTest')

Bases: morse.testing.testing.MorseMoveTestCase

setUpEnv()

Defines the test scenario, using the Builder API.

test_airspeed()

send_speed(s, morse, x, y, w, t)

base.armature_pose_testing module

This script tests the KUKA LWR arm, both the data and service api

class ArmaturePoseTest(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

Defines the test scenario, using the Builder API.

test_pose_services()

test_pose_stream()

base.armature_testing module

This script tests the KUKA LWR arm, both the data and service api

class ArmatureTest(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

Defines the test scenario, using the Builder API.

test_ik_immediate()

test_ik_motion()

test_immediate_api()

Tests the services that have an immediate result (no speed limit taken into account)

test_joints_names()

test_motion_services()

Tests the services that have take some time to move (joint speed limit taken into account)

test_object_attach()

Checks that attached object are indeed attached at the right place.

test_trajectory()

base.attitude_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class AttitudeTest(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

send_angles(yaw, pitch, roll)

setUpEnv()

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()

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')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

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()

Test if we can connect to the pose data stream, and read from it.

send_pose(s, x, y, z)

base.base_testing module

This script tests some of the base functionalities of MORSE.

class BaseTest(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

Defines the test scenario, using the Builder API.

test_list_robots()

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()

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')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

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()

Test if we can connect to the pose data stream, and read from it.

send_pose(s, x, y)

base.builder_wheeled_robot module

This script tests some of the base functionalities of MORSE.

class BuilderWheeledRobotTest(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

Defines the test scenario, using the Builder API.

test_correct_position()

Tests the simulator can return the list of robots

This test is guaranteed to be started only when the simulator is ready.

base.collision_testing module

This script tests the Collision sensor.

class CollisionTest(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

Defines the test scenario, using the Builder API.

test_collision()

send_speed(s, sim, v=0, w=0, t=0)

base.communication_service_testing module

class Communication_Service_Testing(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

Defines the test scenario, using the Builder API.

test_semantic_camera()

This test is guaranteed to be started only when the simulator is ready.

base.depth_camera_testing module

This script tests the Depth camera in MORSE.

class DepthCameraTest(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

Defines the test scenario

test_depth_camera()

Assert that for every points : near <= z <= far

base.destination_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class DestinationTest(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

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()

send_goal(s, x, y, z)

base.drag_testing module

This script tests some of the base functionalities of MORSE.

class DragTest(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

Defines the test scenario, using the Builder API.

test_drag()

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)

base.ecef_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class ECEFModifierTest(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

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()

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')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

Defines the test scenario, using the Builder API.

test_external_force()

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)

base.feet_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class FeetModifierTest(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

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()

Test if we can connect to the pose data stream, and read from it.

base.friction_testing module

This script tests the Robot’s ‘friction’ property.

http://www.blender.org/documentation/blender_python_api_2_68a_release/bpy.types.MaterialPhysics.html#bpy.types.MaterialPhysics.friction

class FrictionTest(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

Defines the test scenario, using the Builder API.

test_friction()

send_speed(s, simu, v=0, w=0, t=0)

base.geodetic_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class GeodeticModifierTest(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

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()

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')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

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()

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')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

Defines the test scenario, using the Builder API.

test_gripper()

This test is guaranteed to be started only when the simulator is ready.

send_pose(s, morse, x, y, yaw)

base.gyroscope_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class GyroTest(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

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()

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')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

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()

Test if the IMU data is noised

base.infrared_testing module

This script tests the Infrared range sensor in MORSE.

class InfraredTest(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

Defines the test scenario.

test_infrared()

This test is guaranteed to be started only when the simulator is ready.

base.levels module

This script tests some of the base functionalities of MORSE.

class LevelsTest(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

Defines the test scenario, using the Builder API.

test_levels()

base.light_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class LightTest(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

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()

base.magnetometer_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class MagnemoterTest(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

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()

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')

Bases: morse.testing.testing.MorseTestCase

Non regression test for #536

PTU related component are really tested in ptu_testing.py

setUpEnv()

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()

Test if we can connect to the pose data stream, and read from it.

send_angles(s, pan, tilt)

base.ned_testing module

This script tests the NED modifier.

class NedTest(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

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()

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')

Bases: morse.testing.testing.MorseTestCase

clear_datas(x, y, yaw)

odometry_test_helper(morse, v, w, t)

record_datas(record)

setUpEnv()

Defines the test scenario, using the Builder API.

test_odometry()

This test is guaranteed to be started only when the simulator is ready.

verify(expected_x, expected_y, expected_yaw)

base.orientation_speed_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class OrientationTest(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

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()

Test if we can connect to the pose data stream, and read from it.

send_angles(s, yaw, pitch, roll)

base.orientation_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class OrientationTest(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

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()

Test if we can connect to the pose data stream, and read from it.

send_angles(s, yaw, pitch, roll)

base.pose_noise_testing module

This script tests the several Noise modifiers

class NoiseTest(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

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()

Test if the GPS data is noised

test_noised_gyro()

Test if the Gyroscope data is noised

test_noised_odometry()

Test if the odometry data is noised

test_noised_pose()

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')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

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()

Simply tests if the simulator is reachable by its socket interface.

test_get_pose_streams_service()

Tests if we can retrieve the list of published data streams.

test_read_pose()

Test if we can connect to the pose data stream, and read from it.

base.proximity_testing module

This script tests the proximity sensor in MORSE.

class ProximityTest(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

Defines the test scenario, using the Builder API.

test_proximity()

send_dest(s, morse, x, y, yaw)

base.ptu_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class PTUTest(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

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()

Test if we can connect to the pose data stream, and read from it.

test_lookat()

Test if the PTU can successfully orient itself towards an absolute x,y,z position and towards a given object.

test_set_service()

Test if we can connect to the pose data stream, and read from it.

send_angles(s, pan, tilt)

base.radar_altimeter_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class RadarAltimeterTest(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

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()

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')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

Defines the test scenario, using the Builder API.

test_renaming()

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')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

Defines the test scenario, using the Builder API.

test_waypoint_controller()

This test is guaranteed to be started only when the simulator is ready.

test_waypoint_service_controller()

base.search_and_rescue_testing module

class SearchAndRescueTest(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

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()

send_dest(s, morse, x, y, yaw)

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')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

Defines the test scenario, using the Builder API.

test_semantic_camera()

This test is guaranteed to be started only when the simulator is ready.

send_dest(s, morse, x, y, yaw)

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')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

Defines the test scenario, using the Builder API.

test_semantic_camera()

This test is guaranteed to be started only when the simulator is ready.

send_dest(s, morse, x, y, yaw)

base.semantic_camera_testing module

This script tests the Semantic Camera sensor in MORSE.

class Semantic_Camera_Test(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

Defines the test scenario, using the Builder API.

test_semantic_camera()

This test is guaranteed to be started only when the simulator is ready.

send_dest(s, morse, x, y, yaw)

base.sick_testing module

This script tests the SICK laser range sensor in MORSE.

class Sick_Test(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

Defines the test scenario, using the Builder API.

test_sick()

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')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

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()

base.stabilized_quadrirotor_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class StabilizedQuadrirotorTest(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

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()

test_psi_c_control()

test_theta_c_control()

send_ctrl(s, theta, phi, psi, h)

base.steer_force_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class SteerForceTest(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

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()

send_force(s, steer, force, brake)

base.teleport_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class TeleportTest(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

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()

Test if we can connect to the pose data stream, and read from it.

send_pose(s, x, y, z, yaw, pitch, roll)

base.thermometer_testing module

class ThermometerTest(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

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()

send_dest(s, morse, x, y, yaw)

base.time_scale_testing module

This script tests some of the base functionalities of MORSE.

class TimeScale_Test(methodName='runTest')

Bases: morse.testing.testing.MorseMoveTestCase

count_value(value)

send_speed(s, morse, v, w, t)

Send the speed (v, w) to the robot controller during real-time t seconds Return the simulated time elapsed (in sec)

setUpEnv()

Defines the test scenario, using the Builder API.

test_time_scale()

base.utm_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class UTMModifierTest(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

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()

Test if we can connect to the pose data stream, and read from it.

base.velocity_testing module

This script tests some of the base functionalities of MORSE.

class Velocity_Test(methodName='runTest')

Bases: morse.testing.testing.MorseMoveTestCase

assert_velocity(morse, command, expected)

setUpEnv()

Defines the test scenario, using the Builder API.

test_velocity_sensor()

base.video_camera_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class CameraTest(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

assertAnglesAlmostEqual(a, b, delta=0.0)

assert_image_file_diff_less(filepath, image8u, delta)

assert_images_diff_greater(imageA, imageB, delta)

assert_images_diff_less(imageA, imageB, delta)

assert_orientation(gyroscope_stream, yaw, pitch, roll, precision)

setUpEnv()

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()

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)

capture8u(cam_stream, image_path=None)

diff_image(imageA, imageB, debug=None)

flush_camera(camera_stream, morse, timeout)

load_image(filepath, size)

normalize_radians(angle)

read_pgm_ascii(filepath)

rgba2gray8u(image_rgba_base64)

rotate_robot_and_wait(orientation_stream, gyroscope_stream, morse, yaw, timeout, precision)

save_image(filepath, image8u)

save_pgm_ascii(filepath, image8u, width, height)

send_angles(orientation_stream, yaw, pitch, roll)

wait_yaw(gyroscope_stream, morse, timeout, yaw, precision)

base.vw_testing module

This script tests some of the base functionalities of MORSE.

class VW_Test(methodName='runTest')

Bases: morse.testing.testing.MorseMoveTestCase

setUpEnv()

Defines the test scenario, using the Builder API.

test_vw_controller()

test_vw_service_controller()

send_service_speed(s, morse, v, w, t)

send_speed(s, morse, v, w, t)

base.waypoint_testing module

This script tests the waypoints actuator, both the data and service api

class Waypoints_Test(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

Defines the test scenario, using the Builder API.

test_waypoint_datastream()

This test is guaranteed to be started only when the simulator is ready.

test_waypoint_services()

base.xyw_testing module

This script tests some of the base functionalities of MORSE.

class XYW_Test(methodName='runTest')

Bases: morse.testing.testing.MorseMoveTestCase

setUpEnv()

Defines the test scenario, using the Builder API.

test_xyw_controller()

send_speed(s, morse, x, y, w, t)

Module contents