full_chain_unittest.py

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#!/usr/bin/env python
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import roslib; roslib.load_manifest('pr2_calibration_estimation')

import sys
import unittest
import rospy
import numpy
from sensor_msgs.msg import JointState
from pr2_calibration_estimation.full_chain import FullChainCalcBlock
from pr2_calibration_estimation.single_transform import SingleTransform
from pr2_calibration_estimation.dh_chain import DhChain

from numpy import *
import numpy

def loadSystem1():
    calc_block = FullChainCalcBlock()
    before_chain_Ts = [SingleTransform([10, 0, 0, 0, 0, 0])]
    chain = DhChain( {'dh':[ [0, 0, 1, 0] ],
                      'gearing':[1],
                      'cov':{'joint_angles':[1]}} )
    dh_link_num = -1
    after_chain_Ts = [SingleTransform([ 0, 0, 20, 0, 0, 0])]

    calc_block.update_config(before_chain_Ts, chain, dh_link_num, after_chain_Ts)
    return calc_block


class TestFullChainCalcBlock(unittest.TestCase):
    def test_fk_1(self):
        print ""
        calc_block = loadSystem1()
        chain_state = JointState(position=[0])
        result = calc_block.fk(chain_state)
        expected = numpy.matrix( [[ 1, 0, 0,11],
                                  [ 0, 1, 0, 0],
                                  [ 0, 0, 1,20],
                                  [ 0, 0, 0, 1]], float )
        print result
        self.assertAlmostEqual(numpy.linalg.norm(result-expected), 0.0, 6)

    def test_fk_2(self):
        print ""
        calc_block = loadSystem1()
        chain_state = JointState(position=[pi/2])
        result = calc_block.fk(chain_state)
        expected = numpy.matrix( [[ 0,-1, 0,10],
                                  [ 1, 0, 0, 1],
                                  [ 0, 0, 1,20],
                                  [ 0, 0, 0, 1]], float )
        print result
        self.assertAlmostEqual(numpy.linalg.norm(result-expected), 0.0, 6)

if __name__ == '__main__':
    import rostest
    rostest.unitrun('pr2_calibration_estimation', 'test_FullChainCalcBlock',   TestFullChainCalcBlock,   coverage_packages=['pr2_calibration_estimation.full_chain'])

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pr2_calibration_estimation
Author(s): Vijay Pradeep
autogenerated on Fri Jan 11 09:09:33 2013