Source code for base.imu_noise_testing

#! /usr/bin/env python
"""
This script tests the several Noise modifiers
"""

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 os
import sys
from pymorse import Morse


[docs]class NoiseTest(MorseTestCase):
[docs] def setUpEnv(self): robot = ATRV() imu = IMU() robot.append(imu) imu_noised = IMU() imu_noised.alter('Noise', gyro_std=1, accel_std=1) robot.append(imu_noised) robot.add_default_interface('socket') env = Environment('empty', fastmode = True) env.add_interface('socket') env.properties(longitude = 43.6, latitude = 1.4333, altitude = 135.0)
[docs] def test_noised_imu(self): """ Test if the IMU data is noised """ with Morse() as morse: d = morse.robot.imu.get() dn = morse.robot.imu_noised.get() for i in ['angular_velocity', 'linear_acceleration']: for j in range(0,3): self.assertNotAlmostEqual(d[i][j], dn[i][j], delta=.001) ########################## Run these tests ##########################
if __name__ == "__main__": from morse.testing.testing import main main(NoiseTest)