multi_sensor_unittest.py
Go to the documentation of this file.
00001 #!/usr/bin/env python
00002 # Software License Agreement (BSD License)
00003 #
00004 # Copyright (c) 2008, Willow Garage, Inc.
00005 # All rights reserved.
00006 #
00007 # Redistribution and use in source and binary forms, with or without
00008 # modification, are permitted provided that the following conditions
00009 # are met:
00010 #
00011 #  * Redistributions of source code must retain the above copyright
00012 #    notice, this list of conditions and the following disclaimer.
00013 #  * Redistributions in binary form must reproduce the above
00014 #    copyright notice, this list of conditions and the following
00015 #    disclaimer in the documentation and/or other materials provided
00016 #    with the distribution.
00017 #  * Neither the name of Willow Garage, Inc. nor the names of its
00018 #    contributors may be used to endorse or promote products derived
00019 #    from this software without specific prior written permission.
00020 #
00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 # POSSIBILITY OF SUCH DAMAGE.
00033 
00034 
00035 import roslib; roslib.load_manifest('calibration_estimation')
00036 
00037 import sys
00038 import unittest
00039 import rospy
00040 import numpy
00041 import yaml
00042 
00043 import calibration_estimation.sensors.multi_sensor
00044 
00045 class TestMultiSensor(unittest.TestCase):
00046     def test_BlockDiag(self):
00047         m1 = numpy.ones([2,2])
00048         m2 = numpy.ones([1,1])*2
00049         m3 = numpy.ones([3,3])*3
00050         m_list = [m1, m2, m3]
00051 
00052         bd = numpy.matrix(calibration_estimation.sensors.multi_sensor.block_diag(m_list))
00053 
00054         self.assertEqual(bd.shape, (6,6))
00055 
00056         expected = numpy.matrix( [ [1, 1, 0, 0, 0, 0],
00057                                    [1, 1, 0, 0, 0, 0],
00058                                    [0, 0, 2, 0, 0, 0],
00059                                    [0, 0, 0, 3, 3, 3],
00060                                    [0, 0, 0, 3, 3, 3],
00061                                    [0, 0, 0, 3, 3, 3]] )
00062         self.assertAlmostEqual(numpy.linalg.norm(bd - expected), 0.0, 6)
00063 
00064 if __name__ == '__main__':
00065     import rostest
00066     rostest.unitrun('calibration_estimation', 'test_MultiSensor', TestMultiSensor)


calibration_estimation
Author(s): Vijay Pradeep, Michael Ferguson
autogenerated on Sun Oct 5 2014 22:44:09