Go to the documentation of this file.00001
00002
00003
00004 PKG = 'hironx_ros_bridge'
00005
00006 try:
00007 import roslib
00008 import hironx_ros_bridge
00009 except:
00010 import roslib; roslib.load_manifest(PKG)
00011 import hironx_ros_bridge
00012
00013 from hironx_ros_bridge import hironx_client as hironx
00014
00015 import unittest
00016 class TestHiroIK(unittest.TestCase):
00017
00018 @classmethod
00019 def setUpClass(self):
00020 self.robot = hironx.HIRONX()
00021 self.robot.init()
00022
00023
00024 def assertTrue_333(self, ret):
00025 if self.robot.fk.ref.get_component_profile().version <= '315.3.1':
00026 return
00027 self.assertTrue(ret)
00028 def test_set_target_pose_relative_333(self):
00029 ret = self.robot.setTargetPoseRelative('larm', 'LARM_JOINT5', dz=0.01, tm=0.5)
00030 self.assertTrue_333(ret)
00031 ret = self.robot.setTargetPoseRelative('larm', 'LARM_JOINT5', dz=0, tm=0.5)
00032 self.assertTrue_333(ret)
00033
00034
00035
00036
00037 if __name__ == '__main__':
00038 import rostest
00039 rostest.rosrun(PKG, 'test_hronx_ik_no_init', TestHiroIK)