Source code for base.ned_testing

#! /usr/bin/env python
"""
This script tests the NED modifier.
"""

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 NedTest(MorseTestCase):
[docs] def setUpEnv(self): robot = RMax('robot') robot.translate(42.0, -10, 40) teleport = Teleport() robot.append(teleport) pose = Pose() robot.append(pose) pose.add_stream('socket') pose2 = Pose() pose2.alter('NED') robot.append(pose2) pose2.add_stream('socket') env = Environment('empty', fastmode = True) env.add_service('socket')
[docs] def test_ned_pose(self): """ Test if the NED conversion is correctly done """ with Morse() as morse: pose_stream = morse.robot.pose pose_ned_stream = morse.robot.pose2 pose = pose_stream.get() pose_ned = pose_ned_stream.get() self.assertAlmostEqual(pose['x'], 42.0, delta=0.01) self.assertAlmostEqual(pose['y'], -10.0, delta=0.01) self.assertAlmostEqual(pose['z'], 40.0, delta=0.1) self.assertAlmostEqual(pose['x'], pose_ned['y']) self.assertAlmostEqual(pose['y'], pose_ned['x']) self.assertAlmostEqual(pose['z'], -pose_ned['z']) ########################## Run these tests ##########################
if __name__ == "__main__": from morse.testing.testing import main main(NedTest)