Source code for base.collision_testing

#! /usr/bin/env python
"""
This script tests the Collision sensor.
"""

from morse.testing.testing import MorseTestCase

try:
    # Include this import to be able to use your test file as a regular 
    # builder script, ie, usable with: 'morse [run|exec] <your test>.py
    from morse.builder import *
except ImportError:
    pass

import sys
from pymorse import Morse

[docs]def send_speed(s, sim, v=0, w=0, t=0): s.publish({'v': v, 'w': w}) if t: sim.sleep(t) s.publish({'v': 0.0, 'w': 0.0})
[docs]class CollisionTest(MorseTestCase):
[docs] def setUpEnv(self): """ Defines the test scenario, using the Builder API. """ dala = ATRV() dala.properties(obstacle=1) robot = ATRV() motion = MotionVW() motion.add_stream('socket') robot.append(motion) collision = Collision() collision.properties(only_objects_with_property="obstacle") collision.add_stream('socket') collision.translate(x = 0.7, z = 0.2) robot.append(collision) robot.translate(x = -3.0) env = Environment('empty', fastmode = True)
[docs] def test_collision(self): with Morse() as sim: collision = sim.robot.collision.get(timeout=0.1) self.assertEqual(collision, None) send_speed(sim.robot.motion, sim, 1.0, 0.0, 1.0) collision = sim.robot.collision.get(timeout=0.1) self.assertEqual(collision, None) send_speed(sim.robot.motion, sim, 1.0, 0.0) sim.sleep(1.0) collision = sim.robot.collision.get(timeout=0.1) self.assertNotEqual(collision, None) self.assertEqual(collision['objects'], "dala") ########################## Run these tests ##########################
if __name__ == "__main__": from morse.testing.testing import main main(CollisionTest)