Source code for base.gyroscope_testing

#! /usr/bin/env python
"""
This script tests the 'data stream' oriented feature of the socket interface.
"""

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]class GyroTest(MorseTestCase):
[docs] def setUpEnv(self): robot = RMax('robot') robot.translate(0.0, 0.0, 40.0) robot.rotate(math.pi/16, math.pi/8, math.pi/2) gyro = Gyroscope() gyro.add_stream('socket') robot.append(gyro) env = Environment('empty', fastmode = True) env.add_service('socket')
[docs] def test_read_gyro(self): """ Test if we can connect to the pose data stream, and read from it. """ with Morse() as morse: gyro_stream = morse.robot.gyro angles = gyro_stream.get() precision = 0.02 self.assertAlmostEqual(angles['yaw'], math.pi/2, delta=precision) self.assertAlmostEqual(angles['pitch'], math.pi/8, delta=precision) self.assertAlmostEqual(angles['roll'], math.pi/16, delta=precision) ########################## Run these tests ##########################
if __name__ == "__main__": from morse.testing.testing import main main(GyroTest)