Source code for human.human_base

#! /usr/bin/env python
"""
This script tests the basics of the human model.
"""

import sys
from morse.testing.testing import MorseTestCase
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|edit] <your test>.py
try:
    from morse.builder import *
except ImportError:
    pass

[docs]class HumanBaseTest(MorseTestCase):
[docs] def setUpEnv(self): """ Defines the test scenario, using the Builder API. """ human = Human() pose = Pose() human.append(pose) pose.add_stream('socket') #motion = Keyboard() motion = Waypoint() motion.properties(ControlType='Position') motion.add_stream('socket') motion.add_service('socket') human.append(motion) env = Environment('empty', fastmode=True) env.add_service('socket')
[docs] def test_movement(self): """ Tests the human can accept an actuator, and that it work as expected to move around the human. """ with Morse() as morse: #Read the start position, it must be (0.0, 0.0, 0.0) pose_stream = morse.human.pose pose = pose_stream.get() self.assertAlmostEqual(pose['x'], 0.0, delta=0.1) self.assertAlmostEqual(pose['y'], 0.0, delta=0.1) # waypoint controller socket human_ctl = morse.human.motion human_ctl.publish({'x' : 2.0, 'y': 3.0, 'z': 0.0, 'tolerance' : 0.3, 'speed' : 1.0}) morse.sleep(5) pose = pose_stream.get() self.assertAlmostEqual(pose['x'], 2.0, delta=0.5) self.assertAlmostEqual(pose['y'], 3.0, delta=0.5) ########################## Run these tests ##########################
if __name__ == "__main__": from morse.testing.testing import main main(HumanBaseTest)