acceptance_test_joint_limits.AcceptanceTestJointLimits Class Reference

Inheritance diagram for acceptance_test_joint_limits.AcceptanceTestJointLimits:

Public Member Functions
def	setUp (self)
def	test_joint_limits_overstepping (self)
def	test_joint_limits_reaching (self)

Public Attributes
	client
	home_positions
	joint_names
	joint_velocity_limits

Private Member Functions
def	_ask_for_permission (self, test_name)
def	_check_joint_limits (self)
def	_current_joint_state_positions (self)
def	_drive_home (self)
def	_execute_trajectory (self, positions)
def	_joint_limit_overstepping_test (self, joint_name)
def	_joint_limit_reaching_test (self, joint_name)

Detailed Description

Test that each joint can be moved exactly to its limits and not further.

Definition at line 54 of file acceptance_test_joint_limits.py.

Member Function Documentation

_ask_for_permission()

def acceptance_test_joint_limits.AcceptanceTestJointLimits._ask_for_permission (   self,   test_name  )

private

Definition at line 79 of file acceptance_test_joint_limits.py.

_check_joint_limits()

def acceptance_test_joint_limits.AcceptanceTestJointLimits._check_joint_limits (   self )

private

Check if current joint positions are within the limits.

Definition at line 106 of file acceptance_test_joint_limits.py.

_current_joint_state_positions()

def acceptance_test_joint_limits.AcceptanceTestJointLimits._current_joint_state_positions (   self )

private

Return the current joint state positions in the order given by self.joint_names.

Definition at line 87 of file acceptance_test_joint_limits.py.

_drive_home()

def acceptance_test_joint_limits.AcceptanceTestJointLimits._drive_home (   self )

private

Move the robot to the home position.

Definition at line 119 of file acceptance_test_joint_limits.py.

_execute_trajectory()

def acceptance_test_joint_limits.AcceptanceTestJointLimits._execute_trajectory (   self,   positions  )

private

Execute a single point trajectory given through joint positions (in the order given by self.joint_names).
    Return true on success and false otherwise.

Definition at line 130 of file acceptance_test_joint_limits.py.

_joint_limit_overstepping_test()

def acceptance_test_joint_limits.AcceptanceTestJointLimits._joint_limit_overstepping_test (   self,   joint_name  )

private

Test if the robot does not overstep the limits

    Test Sequence:
      1. Command a movement to the home position.
      2. Command a movement overstepping the lower limit.
      3. Command a movement overstepping the upper limit.
      4. Command a movement to the home position.

    Expected Results:
      1. Trajectory is executed successfully.
      2. Trajectory execution is aborted and the robot does not overstep the limits.
      3. Trajectory execution is aborted and the robot does not overstep the limits.
      4. Trajectory is executed successfully.

Definition at line 203 of file acceptance_test_joint_limits.py.

_joint_limit_reaching_test()

def acceptance_test_joint_limits.AcceptanceTestJointLimits._joint_limit_reaching_test (   self,   joint_name  )

private

Test if the robot can be commanded to move exactly to the limits

    Test Sequence:
      1. Command a movement to the home position.
      2. Command a movement to the lower limit.
      3. Command a movement to the upper limit.
      4. Command a movement to the home position.

    Expected Results:
      1. Trajectory is executed successfully.
      2. Trajectory is executed successfully.
      3. Trajectory is executed successfully.
      4. Trajectory is executed successfully.

Definition at line 171 of file acceptance_test_joint_limits.py.

setUp()

def acceptance_test_joint_limits.AcceptanceTestJointLimits.setUp

(

self

)

Initialize a client for sending trajectories to the controller.

Definition at line 58 of file acceptance_test_joint_limits.py.

test_joint_limits_overstepping()

def acceptance_test_joint_limits.AcceptanceTestJointLimits.test_joint_limits_overstepping

(

self

)

Perform all overstepping tests. Before each test ask the user if he wants to skip it.

Definition at line 245 of file acceptance_test_joint_limits.py.

test_joint_limits_reaching()

def acceptance_test_joint_limits.AcceptanceTestJointLimits.test_joint_limits_reaching

(

self

)

Perform all reaching tests. Before each test ask the user if he wants to skip it.

Definition at line 237 of file acceptance_test_joint_limits.py.

Member Data Documentation

client

acceptance_test_joint_limits.AcceptanceTestJointLimits.client

Definition at line 61 of file acceptance_test_joint_limits.py.

home_positions

acceptance_test_joint_limits.AcceptanceTestJointLimits.home_positions

Definition at line 66 of file acceptance_test_joint_limits.py.

joint_names

acceptance_test_joint_limits.AcceptanceTestJointLimits.joint_names

Definition at line 65 of file acceptance_test_joint_limits.py.

joint_velocity_limits

acceptance_test_joint_limits.AcceptanceTestJointLimits.joint_velocity_limits

Definition at line 69 of file acceptance_test_joint_limits.py.

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The documentation for this class was generated from the following file:

• acceptance_test_joint_limits.py