full_chain_unittest.py

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#!/usr/bin/env python
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import roslib; roslib.load_manifest('calibration_estimation')

import sys
import unittest
import rospy
import numpy
import yaml
from sensor_msgs.msg import JointState
from calibration_estimation.full_chain import FullChainRobotParams
from calibration_estimation.single_transform import SingleTransform
from calibration_estimation.joint_chain import JointChain
from calibration_estimation.urdf_params import UrdfParams

from numpy import *
import numpy

def loadSystem1():
    urdf = '''
<robot>
  <link name="base_link"/>
  <joint name="j0" type="fixed">
    <origin xyz="10 0 0" rpy="0 0 0"/>
    <parent link="base_link"/>
    <child link="j0_link"/>
  </joint>
  <link name="j0_link"/>
  <joint name="j1" type="revolute">
    <axis xyz="0 0 1"/>
    <origin xyz="1 0 0" rpy="0 0 0"/>
    <parent link="j0_link"/>
    <child link="j1_link"/>
  </joint>
  <link name="j1_link"/>
  <joint name="j2" type="revolute">
    <axis xyz="0 0 1"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="j1_link"/>
    <child link="j2_link"/>
  </joint>
  <link name="j2_link"/>
  <joint name="j3" type="fixed">
    <origin xyz="0 0 20" rpy="0 0 0"/>
    <parent link="j2_link"/>
    <child link="j3_link"/>
  </joint>
  <link name="j3_link"/>
</robot>
'''
    config = yaml.load('''
sensors:
  chains:
    chain1:
      root: j0_link
      tip: j2_link
      cov:
        joint_angles: [0.001, 0.001]
      gearing: [1.0, 1.0]
  rectified_cams: {}
  tilting_lasers: {}
transforms: {}
checkerboards: {}
''')
        
    return UrdfParams(urdf, config)

class TestFullChainCalcBlock(unittest.TestCase):

    def test_fk_1(self):
        print ""
        params = loadSystem1()
        chain = FullChainRobotParams('chain1', 'j3_link')
        chain.update_config(params)

        chain_state = JointState(position=[0, 0])
        result = chain.calc_block.fk(chain_state)
        expected = numpy.matrix( [[ 1, 0, 0,11],
                                  [ 0, 1, 0, 0],
                                  [ 0, 0, 1,20],
                                  [ 0, 0, 0, 1]], float )
        print result
        self.assertAlmostEqual(numpy.linalg.norm(result-expected), 0.0, 6)

    def test_fk_2(self):
        print ""
        params = loadSystem1()
        chain = FullChainRobotParams('chain1', 'j3_link')
        chain.update_config(params)

        chain_state = JointState(position=[pi/2, 0])
        result = chain.calc_block.fk(chain_state)
        expected = numpy.matrix( [[ 0,-1, 0,11],
                                  [ 1, 0, 0, 0],
                                  [ 0, 0, 1,20],
                                  [ 0, 0, 0, 1]], float )
        print result
        self.assertAlmostEqual(numpy.linalg.norm(result-expected), 0.0, 6)

    def test_fk_partial(self):
        print ""
        params = loadSystem1()
        chain = FullChainRobotParams('chain1', 'j1_link')
        chain.update_config(params)

        chain_state = JointState(position=[0, 0])
        result = chain.calc_block.fk(chain_state)
        expected = numpy.matrix( [[ 1, 0, 0,11],
                                  [ 0, 1, 0, 0],
                                  [ 0, 0, 1, 0],
                                  [ 0, 0, 0, 1]], float )
        print result
        self.assertAlmostEqual(numpy.linalg.norm(result-expected), 0.0, 6)


if __name__ == '__main__':
    import rostest
    rostest.unitrun('calibration_estimation', 'test_FullChainCalcBlock',   TestFullChainCalcBlock,   coverage_packages=['calibration_estimation.full_chain', 'calibration_estimation.urdf_params'])