tilting_laser_sensor_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
import yaml
from pr2_calibration_estimation.sensors.tilting_laser_sensor import TiltingLaserBundler, TiltingLaserSensor
from calibration_msgs.msg import *
from sensor_msgs.msg import JointState, CameraInfo
from pr2_calibration_estimation.robot_params import RobotParams

from pr2_calibration_estimation.single_transform import SingleTransform
from pr2_calibration_estimation.dh_chain import DhChain
from pr2_calibration_estimation.camera import RectifiedCamera
from pr2_calibration_estimation.tilting_laser import TiltingLaser
from pr2_calibration_estimation.full_chain import FullChainCalcBlock

import numpy
from numpy import *

def loadConfigList():

    config_yaml = '''
- laser_id:     laser1
'''
    config_dict = yaml.load(config_yaml)
    return config_dict

class TestTiltingLaserBundler(unittest.TestCase):
    def test_basic(self):
        config_list = loadConfigList()

        bundler = TiltingLaserBundler(config_list)

        M_robot = RobotMeasurement()
        M_robot.M_laser.append( LaserMeasurement(laser_id="laser1"))

        blocks = bundler.build_blocks(M_robot)

        self.assertEqual( len(blocks), 1)
        self.assertEqual( blocks[0]._M_laser.laser_id, "laser1")

def loadSystem():

    config = yaml.load('''
        laser_id: laserA
        ''')

    robot_params = RobotParams()
    robot_params.configure( yaml.load('''
        dh_chains: {}
        tilting_lasers:
            laserA:
                before_joint: [0, 0, 0, 0, 0, 0]
                after_joint:  [0, 0, 0, 0, 0, 0]
                gearing: 1
                cov:
                  bearing: 1
                  range:   1
                  tilt:    1
        rectified_cams: {}
        transforms: {}
        checkerboards: {}
        ''' ) )

    return config, robot_params


class TestTiltingLaser(unittest.TestCase):

    def test_cov(self):
        print ""
        config, robot_params = loadSystem()

        joint_points = [ JointState(position=[0,0,1]),
                         JointState(position=[pi/2,0,2]) ]

        sensor = TiltingLaserSensor(config, LaserMeasurement(laser_id="laserA",
                                                             joint_points=joint_points))

        sensor.update_config(robot_params)

        cov = sensor.compute_cov(None)

        print "Cov:"
        print cov

        #numpy.savetxt('cov.txt', cov, "% 6.4f")

        self.assertAlmostEqual(cov[0,0], 1.0, 6)
        self.assertAlmostEqual(cov[1,1], 1.0, 6)
        self.assertAlmostEqual(cov[2,2], 1.0, 6)
        self.assertAlmostEqual(cov[3,3], 4.0, 6)
        self.assertAlmostEqual(cov[4,4], 4.0, 6)
        self.assertAlmostEqual(cov[5,5], 1.0, 6)

    def test_gamma(self):
        print ""
        config, robot_params = loadSystem()

        joint_points = [ JointState(position=[0,0,1]),
                         JointState(position=[pi/2,0,2]) ]

        sensor = TiltingLaserSensor(config, LaserMeasurement(laser_id="laserA",
                                                             joint_points=joint_points))

        sensor.update_config(robot_params)
        gamma = sensor.compute_marginal_gamma_sqrt(None)

        print "Gamma:"
        print gamma
        #numpy.savetxt('gamma.txt', gamma, "% 6.4f")
        self.assertAlmostEqual(gamma[0,0], 1.0, 6)
        self.assertAlmostEqual(gamma[1,1], 1.0, 6)
        self.assertAlmostEqual(gamma[2,2], 1.0, 6)
        self.assertAlmostEqual(gamma[3,3], 0.5, 6)
        self.assertAlmostEqual(gamma[4,4], 0.5, 6)
        self.assertAlmostEqual(gamma[5,5], 1.0, 6)

    def test_tilting_laser_1(self):
        print ""
        config, robot_params = loadSystem()

        joint_points = [ JointState(position=[0,0,0]),
                         JointState(position=[0,pi/2,1]),
                         JointState(position=[pi/2,0,1]) ]

        block = TiltingLaserSensor(config, LaserMeasurement(laser_id="laserA",
                                                            joint_points=joint_points))

        block.update_config(robot_params)

        target_pts = matrix( [ [ 0,  0,  0 ],
                               [ 0,  1,  0 ],
                               [ 0,  0, -1 ],
                               [ 1,  1,  1 ] ] )

        h = block.compute_expected(target_pts)
        z = block.get_measurement()
        r = block.compute_residual(target_pts)

        self.assertAlmostEqual(numpy.linalg.norm(h-target_pts), 0.0, 6)
        self.assertAlmostEqual(numpy.linalg.norm(z-target_pts), 0.0, 6)
        self.assertAlmostEqual(numpy.linalg.norm(r), 0.0, 6)


        # Test Sparsity
        sparsity = block.build_sparsity_dict()
        self.assertEqual(sparsity['tilting_lasers']['laserA']['before_joint'], [1,1,1,1,1,1])
        self.assertEqual(sparsity['tilting_lasers']['laserA']['after_joint'],  [1,1,1,1,1,1])


if __name__ == '__main__':
    import rostest
    rostest.unitrun('pr2_calibration_estimation', 'test_TiltingLaserBundler',   TestTiltingLaserBundler,   coverage_packages=['pr2_calibration_estimation.sensors.tilting_laser_sensor'])
    rostest.unitrun('pr2_calibration_estimation', 'test_TiltingLaser', TestTiltingLaser, coverage_packages=['pr2_calibration_estimation.sensors.tilting_laser_sensor'])

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