Source code for base.xyw_testing

#! /usr/bin/env python
"""
This script tests some of the base functionalities of MORSE.
"""

import sys
import math
from morse.testing.testing import MorseMoveTestCase
from pymorse import Morse

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

[docs]def send_speed(s, morse, x, y, w, t): s.publish({'x' : x, 'y' : y, 'w' : w}) morse.sleep(t + 0.1) s.publish({'x' : 0.0, 'y' : 0.0, 'w' : 0.0})
[docs]class XYW_Test(MorseMoveTestCase):
[docs] def setUpEnv(self): """ Defines the test scenario, using the Builder API. """ robot = ATRV() pose = Pose() robot.append(pose) pose.add_stream('socket') motion = MotionXYW('motion') robot.append(motion) motion.add_stream('socket') motion.add_service('socket') teleport = Teleport() robot.append(teleport) teleport.add_stream('socket') env = Environment('empty', fastmode = True) env.add_service('socket')
[docs] def test_xyw_controller(self): with Morse() as morse: morse.deactivate('robot.teleport') xyw = morse.robot.motion precision = 0.12 # Read the start position, it must be (0.0, 0.0, 0.0) self.assertAlmostEqualPositionThenFix(morse, [0.0, 0.0, 0.10, 0.0, 0.0, 0.0], precision) send_speed(xyw, morse, 1.0, 0.0, 0.0, 2.0) self.assertAlmostEqualPositionThenFix(morse, [2.0, 0.0, 0.10, 0.0, 0.0, 0.0], precision) send_speed(xyw, morse, 0.0, -1.0, 0.0, 2.0) self.assertAlmostEqualPositionThenFix(morse, [2.0, -2.0, 0.10, 0.0, 0.0, 0.0], precision) send_speed(xyw, morse, -1.0, 1.0, 0.0, 2.0) self.assertAlmostEqualPositionThenFix(morse, [0.0, 0.0, 0.10, 0.0, 0.0, 0.0], precision) send_speed(xyw, morse, 1.0, 0.0, -math.pi/4.0, 2.0) self.assertAlmostEqualPositionThenFix(morse, [4.0 / math.pi, -4.0 / math.pi, 0.10, -math.pi / 2.0, 0.0, 0.0], precision) send_speed(xyw, morse, 0.5, 0.0, -math.pi/8.0, 12.0) self.assertAlmostEqualPositionThenFix(morse, [0.0, 0.0, 0.10, 0.0, 0.0, 0.0], precision) send_speed(xyw, morse, -2.0, 0.0, math.pi/2.0, 3.0) self.assertAlmostEqualPositionThenFix(morse, [4.0 / math.pi, -4.0 / math.pi, 0.10, -math.pi / 2.0, 0.0, 0.0], precision*2) ########################## Run these tests ##########################
if __name__ == "__main__": from morse.testing.testing import main main(XYW_Test)