pressure_info_test.py
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00001 #!/usr/bin/env python
00002 #***********************************************************
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00035 
00036 # Author: Blaise Gassend
00037 
00038 import roslib; roslib.load_manifest('fingertip_pressure')
00039 
00040 import rospy
00041 import sys
00042 import time
00043 import unittest
00044 import rostest
00045 
00046 from fingertip_pressure.msg import PressureInfo
00047 
00048 ## Tests the PressureInfo message produced by sensor_info.py
00049 class PressureInfoTest(unittest.TestCase):
00050     def __init__(self, *args):
00051         super(PressureInfoTest, self).__init__(*args)
00052         rospy.init_node('pressure_info_test')
00053         
00054         # Read one message from the topic
00055         self.msg = None
00056         sub = rospy.Subscriber('pressure/r_gripper_motor_info',
00057                 PressureInfo, self.callback)
00058         timeout_t = rospy.get_time() + 2
00059         print 'waiting for message'
00060         while self.msg == None and timeout_t > rospy.get_time():
00061             rospy.sleep(0.1)
00062         print 'done waiting for message'
00063         sub.unregister()
00064         self.assertNotEquals(self.msg, None)
00065                                     
00066     def callback(self, msg):
00067         print 'got message'
00068         # Account for offset origin of sensor origin.
00069         for i in range(0,2):
00070             for j in range(0,22):
00071                 fact = [1,-1][i]
00072                 msg.sensor[i].center[j].x = msg.sensor[i].center[j].x + 0.004
00073                 msg.sensor[i].center[j].y = msg.sensor[i].center[j].y + 0.015 * fact
00074         self.msg = msg
00075 
00076     def test_array_sizes(self):
00077         self.assertEquals(len(self.msg.sensor), 2, "Should have two PressureInfoElements")
00078         self.assertEquals(len(self.msg.sensor[1].center), 22, "Should have 22 centers.")
00079         self.assertEquals(len(self.msg.sensor[1].halfside1), 22, "Should have 22 halfside1")
00080         self.assertEquals(len(self.msg.sensor[1].halfside2), 22, "Should have 22 halfside2")
00081         self.assertEquals(len(self.msg.sensor[1].force_per_unit), 22, "Should have 22 pressure")
00082 
00083     def test_cross_products(self):
00084         for j in range(0,2):
00085             yori = [1, -1][j]
00086             for i in range(0,22):
00087                 a = self.msg.sensor[j].halfside1[i]
00088                 b = self.msg.sensor[j].halfside2[i]
00089                 c = self.msg.sensor[j].center[i]
00090                 c.y = c.y - yori * .005 # Ensure that we are inside the sensor
00091                 det = a.x * b.y * c.z + b.x * c.y * a.z + c.x * a.y * b.z\
00092                      -a.x * c.y * b.z - b.x * a.y * c.z - c.x * b.y * a.z
00093                 self.assertTrue(det > 0, 
00094                         "Wrong orientation for sensor %i on tip %i, det=%e, %e %e %e %e %e %e %e %e %e"%(i, j, det, a.x, a.y, a.z, b.x, b.y, b.z, c.x, c.y, c.z))
00095 
00096     def test_bounding_box(self):
00097         for j in range(0,2):
00098             yori = [1, -1][j]
00099             for i in range(0,22):
00100                 a = self.msg.sensor[j].halfside1[i]
00101                 b = self.msg.sensor[j].halfside2[i]
00102                 c = self.msg.sensor[j].center[i]
00103                 msg = "Bound box error sensor %i, tip %i, %e %e %e %e %e %e %e %e %e"%(i, j, a.x, a.y, a.z, b.x, b.y, b.z, c.x, c.y, c.z)
00104                 self.assertTrue(c.x - abs(a.x) > 0, msg)
00105                 self.assertTrue(c.x - abs(b.x) > 0, msg)
00106                 self.assertTrue(c.x + abs(a.x) <= 0.035, msg)
00107                 self.assertTrue(c.x + abs(b.x) <= 0.035, msg)
00108                 self.assertTrue(yori * c.y - abs(a.y) >= 0, msg)
00109                 self.assertTrue(yori * c.y - abs(b.y) >= 0, msg)
00110                 self.assertTrue(yori * c.y + abs(a.y) < 11, msg)
00111                 self.assertTrue(yori * c.y + abs(b.y) < 11, msg)
00112                 self.assertTrue(abs(c.z) + abs(a.z) <= 11.5, msg)
00113                 self.assertTrue(abs(c.z) + abs(b.z) <= 11.5, msg)
00114 
00115 
00116 if __name__ == '__main__':
00117     import rostest
00118     time.sleep(0.75)
00119     try:
00120         rostest.rosrun('fingertip_pressure', 'pressure_info_test', PressureInfoTest)
00121     except KeyboardInterrupt, e:
00122         pass
00123     print "exiting"
00124 
00125 
00126 


fingertip_pressure
Author(s): Blaise Gassend
autogenerated on Fri Aug 28 2015 12:09:42