multi_sensor_unittest.py
Go to the documentation of this file.00001 #!/usr/bin/env python 00002 # Software License Agreement (BSD License) 00003 # 00004 # Copyright (c) 2008, Willow Garage, Inc. 00005 # All rights reserved. 00006 # 00007 # Redistribution and use in source and binary forms, with or without 00008 # modification, are permitted provided that the following conditions 00009 # are met: 00010 # 00011 # * Redistributions of source code must retain the above copyright 00012 # notice, this list of conditions and the following disclaimer. 00013 # * Redistributions in binary form must reproduce the above 00014 # copyright notice, this list of conditions and the following 00015 # disclaimer in the documentation and/or other materials provided 00016 # with the distribution. 00017 # * Neither the name of Willow Garage, Inc. nor the names of its 00018 # contributors may be used to endorse or promote products derived 00019 # from this software without specific prior written permission. 00020 # 00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 # POSSIBILITY OF SUCH DAMAGE. 00033 00034 00035 import roslib; roslib.load_manifest('pr2_calibration_estimation') 00036 00037 import sys 00038 import unittest 00039 import rospy 00040 import numpy 00041 import yaml 00042 00043 import pr2_calibration_estimation.sensors.multi_sensor 00044 00045 00046 class TestMultiSensor(unittest.TestCase): 00047 def test_BlockDiag(self): 00048 m1 = numpy.ones([2,2]) 00049 m2 = numpy.ones([1,1])*2 00050 m3 = numpy.ones([3,3])*3 00051 m_list = [m1, m2, m3] 00052 00053 bd = numpy.matrix(pr2_calibration_estimation.sensors.multi_sensor.block_diag(m_list)) 00054 00055 self.assertEqual(bd.shape, (6,6)) 00056 00057 00058 expected = numpy.matrix( [ [1, 1, 0, 0, 0, 0], 00059 [1, 1, 0, 0, 0, 0], 00060 [0, 0, 2, 0, 0, 0], 00061 [0, 0, 0, 3, 3, 3], 00062 [0, 0, 0, 3, 3, 3], 00063 [0, 0, 0, 3, 3, 3]] ) 00064 self.assertAlmostEqual(numpy.linalg.norm(bd - expected), 0.0, 6) 00065 00066 if __name__ == '__main__': 00067 import rostest 00068 rostest.unitrun('pr2_calibration_estimation', 'test_MultiSensor', TestMultiSensor)