tilting_laser_unittest.py
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00001 #!/usr/bin/env python
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00033 
00034 
00035 import roslib; roslib.load_manifest('calibration_estimation')
00036 
00037 import sys
00038 import unittest
00039 import rospy
00040 import time
00041 import numpy
00042 import yaml
00043 
00044 from calibration_estimation.tilting_laser import TiltingLaser
00045 from calibration_estimation.urdf_params import UrdfParams
00046 from numpy import *
00047 
00048 def loadSystem1():
00049     urdf = '''
00050 <robot>
00051   <link name="base_link"/>
00052   <joint name="j0" type="fixed">
00053     <origin xyz="0 0 10" rpy="0 0 0"/>
00054     <parent link="base_link"/>
00055     <child link="j0_link"/>
00056   </joint>
00057   <link name="j0_link"/>
00058   <joint name="j1" type="revolute">
00059     <axis xyz="0 0 1"/>
00060     <origin xyz="0 0 0" rpy="0 0 0"/>
00061     <parent link="j0_link"/>
00062     <child link="j1_link"/>
00063   </joint>
00064   <link name="j1_link"/>
00065   <joint name="j2" type="fixed">
00066     <origin xyz="20 0 0" rpy="0 0 0"/>
00067     <parent link="j1_link"/>
00068     <child link="j2_link"/>
00069   </joint>
00070   <link name="j2_link"/>
00071 </robot>
00072 '''
00073     config = yaml.load('''
00074 sensors:
00075   chains: {}
00076   rectified_cams: {}
00077   tilting_lasers:
00078     test_laser:
00079       joint: j1
00080       frame_id: j2_link
00081       gearing: 1.0
00082       cov:
00083         bearing: 0.0005
00084         range: 0.005
00085         tilt: 0.0005
00086 transforms: {}
00087 checkerboards: {}
00088 ''')
00089         
00090     return UrdfParams(urdf, config)
00091 
00092 class TestTiltingLaser(unittest.TestCase):
00093 
00094     def test_project_point_easy_1(self):
00095         params = loadSystem1()
00096         tl = params.tilting_lasers["test_laser"]
00097         tl.update_config(params)
00098         result = tl.project_point_to_3D([0, 0, 0])
00099         expected = numpy.matrix( [20, 0, 10, 1] ).T
00100         print ""
00101         print result
00102         self.assertAlmostEqual(numpy.linalg.norm(result - expected), 0.0, 6)
00103 
00104     def test_project_point_easy_2(self):
00105         params = loadSystem1()
00106         tl = params.tilting_lasers["test_laser"]
00107         tl.update_config(params)
00108         result = tl.project_point_to_3D([0, pi/2, 1])
00109         expected = numpy.matrix( [20, 1, 10, 1] ).T
00110         print ""
00111         print result
00112         self.assertAlmostEqual(numpy.linalg.norm(result - expected), 0.0, 6)
00113 
00114     def test_project_point_easy_3(self):
00115         params = loadSystem1()
00116         tl = params.tilting_lasers["test_laser"]
00117         tl.update_config(params)
00118         result = tl.project_point_to_3D([pi/2, 0, 0])
00119         expected = numpy.matrix( [0 , 0,-10, 1] ).T
00120         print ""
00121         print result
00122         self.assertAlmostEqual(numpy.linalg.norm(result - expected), 0.0, 6)
00123 
00124     def test_project_point_easy_4(self):
00125         params = loadSystem1()
00126         tl = params.tilting_lasers["test_laser"]
00127         tl.update_config(params)
00128         result = tl.project_point_to_3D([pi/2, -pi/2, 15])
00129         expected = numpy.matrix( [0 ,-15, -10, 1] ).T
00130         print ""
00131         print result
00132         self.assertAlmostEqual(numpy.linalg.norm(result - expected), 0.0, 6)
00133 
00134     def test_project(self):
00135         params = loadSystem1()
00136         tl = params.tilting_lasers["test_laser"]
00137         tl.update_config(params)
00138 
00139         result = tl.project_to_3D( [ [0,    0, 0],
00140                                      [0,    0, 1],
00141                                      [pi/2, 0, 0],
00142                                      [pi/2, pi/2,1] ] )
00143 
00144         expected = numpy.matrix( [ [ 20, 21,   0,   0 ],
00145                                    [  0,  0,   0,   1 ],
00146                                    [ 10, 10, -10, -10 ],
00147                                    [  1,  1,   1,   1 ] ] )
00148 
00149         print
00150         print result
00151 
00152         self.assertAlmostEqual(numpy.linalg.norm(result - expected), 0.0, 6)
00153 
00154     def test_get_length(self):
00155         params = loadSystem1()
00156         tl = params.tilting_lasers["test_laser"]
00157         self.assertEqual(tl.get_length(), 1)
00158 
00159 if __name__ == '__main__':
00160     import rostest
00161     rostest.unitrun('calibration_estimation', 'test_TiltingLaser', TestTiltingLaser, coverage_packages=['calibration_estimation.tilting_laser'])
00162 
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calibration_estimation
Author(s): Vijay Pradeep, Michael Ferguson
autogenerated on Thu Aug 15 2013 10:15:40