sr_utilities: test_hand_finder.py Source File

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00001 #!/usr/bin/env python
00002 
00003 import rospy
00004 import rostest
00005 import unittest
00006 from sr_utilities.hand_finder import HandFinder
00007 
00008 
00009 class TestHandFinder(unittest.TestCase):
00010     def test_no_hand_finder(self):
00011         if rospy.has_param("hand"):
00012             rospy.delete_param("hand")
00013 
00014         hand_finder = HandFinder()
00015 
00016         self.assertEqual(len(hand_finder.get_hand_parameters().joint_prefix),
00017                          0, "correct parameters without a hand")
00018         self.assertEqual(len(hand_finder.get_hand_parameters().mapping),
00019                          0, "correct parameters without a hand")
00020         self.assertEqual(len(hand_finder.get_hand_joints()), 0,
00021                          "correct joints without a hand")
00022         self.assertEqual(len(hand_finder.get_calibration_path()), 0,
00023                          "correct calibration path without a hand")
00024         self.assertEqual(len(hand_finder.get_hand_control_tuning().
00025                              friction_compensation), 0,
00026                          "correct tuning without a hands")
00027         self.assertEqual(len(hand_finder.get_hand_control_tuning().
00028                              host_control), 0,
00029                          "correct tuning without a hands")
00030         self.assertEqual(len(hand_finder.get_hand_control_tuning().
00031                              motor_control), 0,
00032                          "correct tuning without a hands")
00033 
00034     def test_one_hand_finder(self):
00035         rospy.set_param("hand/joint_prefix/1", "rh_")
00036         rospy.set_param("hand/mapping/1", "rh")
00037 
00038         hand_finder = HandFinder()
00039         self.assertIsNotNone(hand_finder.get_hand_parameters(),
00040                              "Parameters extracted.")
00041         self.assertIsNotNone(hand_finder.get_hand_joints(),
00042                              "Joints extracted.")
00043         self.assertIsNotNone(hand_finder.get_calibration_path(),
00044                              "Calibration extracted.")
00045         self.assertIsNotNone(hand_finder.get_hand_control_tuning(),
00046                              "Control tuning parameters extracted.")
00047 
00048     def test_two_hand_finder(self):
00049         rospy.set_param("hand/joint_prefix/1", "rh_")
00050         rospy.set_param("hand/mapping/1", "rh")
00051         rospy.set_param("hand/joint_prefix/2", "lh_")
00052         rospy.set_param("hand/mapping/2", "lh")
00053 
00054         hand_finder = HandFinder()
00055         self.assertIsNotNone(hand_finder.get_hand_parameters(),
00056                              "Parameters extracted.")
00057         self.assertIsNotNone(hand_finder.get_hand_joints(),
00058                              "Joints extracted.")
00059         self.assertIsNotNone(hand_finder.get_calibration_path(),
00060                              "Calibration extracted.")
00061         self.assertIsNotNone(hand_finder.get_hand_control_tuning(),
00062                              "Control tuning parameters extracted.")
00063 
00064 
00065 if __name__ == "__main__":
00066     rospy.init_node("test_hand_finder")
00067     rostest.rosrun("sr_utilities", "test_hand_finder", TestHandFinder)