testSingleShot.py

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#!/usr/bin/env python

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import roslib; roslib.load_manifest('pal_blort')
import re
import subprocess
from multiprocessing import Process
from geometry_msgs.msg import Pose
import sys
from call_SingleShot import singleShotClient
from pose_utils import *

# error in meters
max_error = Pose()
max_error.position.x = 0.3
max_error.position.y = 0.3
max_error.position.z = 0.3
max_error.orientation.x = 0.2
max_error.orientation.y = 0.2
max_error.orientation.z = 0.2
max_error.orientation.w = 0.2

if __name__ == "__main__":
    if len(sys.argv) < 3:
        print "First the path of the pose file to compare to, second parameter should be the number of tries!"
        exit(1)
    approxPose = readPose(sys.argv[1])
    print "'ve read approxPose : "
    print approxPose

    nTries = int(sys.argv[2])
    nFails = 0
    nSuccs = 0
    resultPoses = []

    for i in range(nTries):
        resultPose = singleShotClient()
        if resultPose == None:
            nFails += 1
        else:
            if poseValidate(approxPose, resultPose, max_error):
                 nSuccs += 1
                 resultPoses.append(resultPose)
            else:
                nFails += 1
    print '\nStatistics: nTries: '+ repr(nTries) + ', nFails: ' + repr(nFails) + ', nSuccs: ' + repr(nSuccs)
    if nSuccs > 0:
        print 'Average error:'
        print poseListAvgDiff(approxPose, resultPoses)

    print "\nBig Kahuna Burger. That's that Hawaiian burger joint."