base package

Submodules

base.accelerometer_testing module

This script tests some of the base functionalities of MORSE.

class Accelero_Test(methodName='runTest')[source]

Bases: morse.testing.testing.MorseMoveTestCase

assert_accel_almost_null(acc, idx)[source]
setUpEnv()[source]

Defines the test scenario, using the Builder API.

test_accel_sensor()[source]

base.airspeed_testing module

This script tests some of the base functionalities of MORSE.

class Airspeed_Test(methodName='runTest')[source]

Bases: morse.testing.testing.MorseMoveTestCase

setUpEnv()[source]

Defines the test scenario, using the Builder API.

test_airspeed()[source]
send_speed(s, morse, x, y, w, t)[source]

base.armature_pose_testing module

This script tests the KUKA LWR arm, both the data and service api

class ArmaturePoseTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]

Defines the test scenario, using the Builder API.

test_pose_services()[source]
test_pose_stream()[source]

base.armature_testing module

This script tests the KUKA LWR arm, both the data and service api

class ArmatureTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]

Defines the test scenario, using the Builder API.

test_ik_immediate()[source]
test_ik_motion()[source]
test_immediate_api()[source]

Tests the services that have an immediate result (no speed limit taken into account)

test_joints_names()[source]
test_motion_services()[source]

Tests the services that have take some time to move (joint speed limit taken into account)

test_object_attach()[source]

Checks that attached object are indeed attached at the right place.

test_trajectory()[source]

base.attitude_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class AttitudeTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

send_angles(yaw, pitch, roll)[source]
setUpEnv()[source]
test_attitude()[source]

Test if we can connect to the pose data stream, and read from it.

base.barometer_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class BarometerTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]
test_read_barometer()[source]

Test if we can connect to the pose data stream, and read from it.

send_pose(s, x, y, z)[source]

base.base_testing module

This script tests some of the base functionalities of MORSE.

class BaseTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]

Defines the test scenario, using the Builder API.

test_list_robots()[source]

Tests the simulator can return the list of robots

This test is guaranteed to be started only when the simulator is ready.

test_socket_request_parser_resilience()[source]

Tests that the socket request parser is resilient to useless whitespaces.

base.battery_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class BatteryTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]
test_read_battery()[source]

Test if we can connect to the pose data stream, and read from it.

send_pose(s, x, y)[source]

base.builder_wheeled_robot module

This script tests some of the base functionalities of MORSE.

class BuilderWheeledRobotTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]

Defines the test scenario, using the Builder API.

test_correct_position()[source]

Tests the simulator can return the list of robots

This test is guaranteed to be started only when the simulator is ready.

base.collision_testing module

This script tests the Collision sensor.

class CollisionTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]

Defines the test scenario, using the Builder API.

test_collision()[source]
send_speed(s, sim, v=0, w=0, t=0)[source]

base.communication_service_testing module

class Communication_Service_Testing(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]

Defines the test scenario, using the Builder API.

test_semantic_camera()[source]

This test is guaranteed to be started only when the simulator is ready.

base.depth_camera_testing module

This script tests the Depth camera in MORSE.

class DepthCameraTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]

Defines the test scenario

test_depth_camera()[source]

Assert that for every points : near <= z <= far

base.destination_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class DestinationTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]
test()[source]
send_goal(s, x, y, z)[source]

base.drag_testing module

This script tests some of the base functionalities of MORSE.

class DragTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]

Defines the test scenario, using the Builder API.

test_drag()[source]

The idea between the test is to verify that a robot against the wind is going slower than another one, using the same force. The acceleration stay positive in both case.

send_force_x(actuator, fx)[source]

base.ecef_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class ECEFModifierTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]
test_ecef_modifier()[source]

Test if we can connect to the pose data stream, and read from it.

base.external_force_testing module

This script tests some of the base functionalities of MORSE.

class ExternalForceTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]

Defines the test scenario, using the Builder API.

test_external_force()[source]

The idea between the test is to verify that a robot against the wind is going slower than another one, using the same force. The acceleration stay positive in both case.

send_force_x(actuator, fx)[source]

base.feet_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class FeetModifierTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]
test_feet_modifier()[source]

Test if we can connect to the pose data stream, and read from it.

base.friction_testing module

This script tests the Robot’s ‘friction’ property.

http://www.blender.org/documentation/blender_python_api_2_68a_release/bpy.types.MaterialPhysics.html#bpy.types.MaterialPhysics.friction

class FrictionTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]

Defines the test scenario, using the Builder API.

test_friction()[source]
send_speed(s, simu, v=0, w=0, t=0)[source]

base.geodetic_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class GeodeticModifierTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]
test_geodetic_modifier()[source]

Test if we can connect to the pose data stream, and read from it.

base.gps_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class GPSTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]
test_read_gps()[source]

Test if we can connect to the pose data stream, and read from it.

base.gripper_testing module

This script tests the KUKA LWR arm, both the data and service api

class gripperTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]

Defines the test scenario, using the Builder API.

test_gripper()[source]

This test is guaranteed to be started only when the simulator is ready.

send_pose(s, morse, x, y, yaw)[source]

base.gyroscope_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class GyroTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]
test_read_gyro()[source]

Test if we can connect to the pose data stream, and read from it.

base.imu_noise_testing module

This script tests the several Noise modifiers

class NoiseTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]
test_noised_imu()[source]

Test if the IMU data is noised

base.infrared_testing module

This script tests the Infrared range sensor in MORSE.

class InfraredTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]

Defines the test scenario.

test_infrared()[source]

This test is guaranteed to be started only when the simulator is ready.

base.levels module

This script tests some of the base functionalities of MORSE.

class LevelsTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]

Defines the test scenario, using the Builder API.

test_levels()[source]

base.light_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class LightTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]
test_light()[source]

base.magnetometer_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class MagnemoterTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]
test_geodetic_modifier()[source]

Test if we can connect to the pose data stream, and read from it.

base.multiple_ptu_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class MultiplePTUTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

Non regression test for #536

PTU related component are really tested in ptu_testing.py

setUpEnv()[source]
test_datastream()[source]

Test if we can connect to the pose data stream, and read from it.

send_angles(s, pan, tilt)[source]

base.ned_testing module

This script tests the NED modifier.

class NedTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]
test_ned_pose()[source]

Test if the NED conversion is correctly done

base.odometry_testing module

This script tests some of the base functionalities of MORSE.

class OdometryTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

clear_datas(x, y, yaw)[source]
odometry_test_helper(morse, v, w, t)[source]
record_datas(record)[source]
setUpEnv()[source]

Defines the test scenario, using the Builder API.

test_odometry()[source]

This test is guaranteed to be started only when the simulator is ready.

verify(expected_x, expected_y, expected_yaw)[source]

base.orientation_speed_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class OrientationTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]
test_orientation()[source]

Test if we can connect to the pose data stream, and read from it.

send_angles(s, yaw, pitch, roll)[source]

base.orientation_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class OrientationTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]
test_orientation()[source]

Test if we can connect to the pose data stream, and read from it.

send_angles(s, yaw, pitch, roll)[source]

base.pose_noise_testing module

This script tests the several Noise modifiers

class NoiseTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]
test_noised_gps()[source]

Test if the GPS data is noised

test_noised_gyro()[source]

Test if the Gyroscope data is noised

test_noised_odometry()[source]

Test if the odometry data is noised

test_noised_pose()[source]

Test if the Pose data is noised

base.pose_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class PoseTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]
test_base_service_connection()[source]

Simply tests if the simulator is reachable by its socket interface.

test_get_pose_streams_service()[source]

Tests if we can retrieve the list of published data streams.

test_read_pose()[source]

Test if we can connect to the pose data stream, and read from it.

base.proximity_testing module

This script tests the proximity sensor in MORSE.

class ProximityTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]

Defines the test scenario, using the Builder API.

test_proximity()[source]
send_dest(s, morse, x, y, yaw)[source]

base.ptu_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class PTUTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]
test_datastream()[source]

Test if we can connect to the pose data stream, and read from it.

test_lookat()[source]

Test if the PTU can successfully orient itself towards an absolute x,y,z position and towards a given object.

test_set_service()[source]

Test if we can connect to the pose data stream, and read from it.

send_angles(s, pan, tilt)[source]

base.radar_altimeter_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class RadarAltimeterTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]
test_teleport()[source]

Test if we can connect to the pose data stream, and read from it.

base.renaming_testing module

This script tests some of the base functionalities of MORSE.

class RenamingTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]

Defines the test scenario, using the Builder API.

test_renaming()[source]

Tests the simulator can return the list of robots

This test is guaranteed to be started only when the simulator is ready.

base.rotorcraft_waypoint_testing module

This script tests the waypoints actuator, both the data and service api

class RotorcraftWaypoints_Test(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]

Defines the test scenario, using the Builder API.

test_waypoint_controller()[source]

This test is guaranteed to be started only when the simulator is ready.

test_waypoint_service_controller()[source]

base.search_and_rescue_testing module

class SearchAndRescueTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]
test_victim_interface()[source]
send_dest(s, morse, x, y, yaw)[source]

base.semantic_camera_relative_testing module

This script tests the Semantic Camera sensor and its ‘relative’ property in MORSE.

class Semantic_Camera_Test(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]

Defines the test scenario, using the Builder API.

test_semantic_camera()[source]

This test is guaranteed to be started only when the simulator is ready.

send_dest(s, morse, x, y, yaw)[source]

base.semantic_camera_tag_testing module

This script tests the Semantic Camera sensor and its ‘tag’ property in MORSE.

class Semantic_Camera_Test(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]

Defines the test scenario, using the Builder API.

test_semantic_camera()[source]

This test is guaranteed to be started only when the simulator is ready.

send_dest(s, morse, x, y, yaw)[source]

base.semantic_camera_testing module

This script tests the Semantic Camera sensor in MORSE.

class Semantic_Camera_Test(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]

Defines the test scenario, using the Builder API.

test_semantic_camera()[source]

This test is guaranteed to be started only when the simulator is ready.

send_dest(s, morse, x, y, yaw)[source]

base.sick_testing module

This script tests the SICK laser range sensor in MORSE.

class Sick_Test(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]

Defines the test scenario, using the Builder API.

test_sick()[source]

This test is guaranteed to be started only when the simulator is ready.

base.socket_sync_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class SocketSyncTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]
test_read_clock()[source]

base.stabilized_quadrirotor_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class StabilizedQuadrirotorTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]
test_phi_c_control()[source]
test_psi_c_control()[source]
test_theta_c_control()[source]
send_ctrl(s, theta, phi, psi, h)[source]

base.steer_force_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class SteerForceTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]
test()[source]
send_force(s, steer, force, brake)[source]

base.teleport_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class TeleportTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]
test_teleport()[source]

Test if we can connect to the pose data stream, and read from it.

send_pose(s, x, y, z, yaw, pitch, roll)[source]

base.thermometer_testing module

class ThermometerTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]
test_temperature()[source]
send_dest(s, morse, x, y, yaw)[source]

base.time_scale_testing module

This script tests some of the base functionalities of MORSE.

class TimeScale_Test(methodName='runTest')[source]

Bases: morse.testing.testing.MorseMoveTestCase

count_value(value)[source]
send_speed(s, morse, v, w, t)[source]

Send the speed (v, w) to the robot controller during real-time t seconds Return the simulated time elapsed (in sec)

setUpEnv()[source]

Defines the test scenario, using the Builder API.

test_time_scale()[source]

base.utm_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class UTMModifierTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]
test_read_gps()[source]

Test if we can connect to the pose data stream, and read from it.

base.velocity_testing module

This script tests some of the base functionalities of MORSE.

class Velocity_Test(methodName='runTest')[source]

Bases: morse.testing.testing.MorseMoveTestCase

assert_velocity(morse, command, expected)[source]
setUpEnv()[source]

Defines the test scenario, using the Builder API.

test_velocity_sensor()[source]

base.video_camera_testing module

This script tests the ‘data stream’ oriented feature of the socket interface.

class CameraTest(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

assertAnglesAlmostEqual(a, b, delta=0.0)[source]
assert_image_file_diff_less(filepath, image8u, delta)[source]
assert_images_diff_greater(imageA, imageB, delta)[source]
assert_images_diff_less(imageA, imageB, delta)[source]
assert_orientation(gyroscope_stream, yaw, pitch, roll, precision)[source]
setUpEnv()[source]
test_camera()[source]

Test if we can connect to the pose data stream, and read from it.

The test has been constructed in the following way
  • put the robot in a specific position and takes an image
  • using an editor image, look for the rgb value of some specific zone, and setup some threshold
  • retrieve the threshold in the scene and tests it is mostly invariant
It will allow to detect that :
  • the camera is broken and don’t have a real image
  • blender has changed the way they transmit the image
  • blender changes the orientation of their image
  • possibly other bugs
are_angles_almost_equal(a, b, delta)[source]
capture8u(cam_stream, image_path=None)[source]
diff_image(imageA, imageB, debug=None)[source]
flush_camera(camera_stream, morse, timeout)[source]
load_image(filepath, size)[source]
normalize_radians(angle)[source]
read_pgm_ascii(filepath)[source]
rgba2gray8u(image_rgba_base64)[source]
rotate_robot_and_wait(orientation_stream, gyroscope_stream, morse, yaw, timeout, precision)[source]
save_image(filepath, image8u)[source]
save_pgm_ascii(filepath, image8u, width, height)[source]
send_angles(orientation_stream, yaw, pitch, roll)[source]
wait_yaw(gyroscope_stream, morse, timeout, yaw, precision)[source]

base.vw_testing module

This script tests some of the base functionalities of MORSE.

class VW_Test(methodName='runTest')[source]

Bases: morse.testing.testing.MorseMoveTestCase

setUpEnv()[source]

Defines the test scenario, using the Builder API.

test_vw_controller()[source]
test_vw_service_controller()[source]
send_service_speed(s, morse, v, w, t)[source]
send_speed(s, morse, v, w, t)[source]

base.waypoint_testing module

This script tests the waypoints actuator, both the data and service api

class Waypoints_Test(methodName='runTest')[source]

Bases: morse.testing.testing.MorseTestCase

setUpEnv()[source]

Defines the test scenario, using the Builder API.

test_waypoint_datastream()[source]

This test is guaranteed to be started only when the simulator is ready.

test_waypoint_services()[source]

base.xyw_testing module

This script tests some of the base functionalities of MORSE.

class XYW_Test(methodName='runTest')[source]

Bases: morse.testing.testing.MorseMoveTestCase

setUpEnv()[source]

Defines the test scenario, using the Builder API.

test_xyw_controller()[source]
send_speed(s, morse, x, y, w, t)[source]

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