abst_acceptancetest.py

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# -*- coding: utf-8 -*-

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# Copyright (c) 2014, TORK (Tokyo Opensource Robotics Kyokai Association)
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import abc


class AbstAcceptanceTest():

    _MSG_ERR_NOTIMPLEMENTED = 'The method is not implemented in the derived class'

    def __init__(self, robot_client, default_task_duration=7.0):
        '''
        @type robot_client: hironx_ros_bridge.ros_client.ROS_Client or
                            hrpsys.hrpsys_config.HrpsysConfigurator
        '''
        self._robotclient = robot_client
        self._default_task_duration = default_task_duration

    @abc.abstractmethod
    def go_initpos(self, default_task_duration=7.0):
        raise NotImplementedError(self._MSG_ERR_NOTIMPLEMENTED)

    @abc.abstractmethod
    def set_joint_angles(self, joint_group, joint_angles,
                  msg_tasktitle=None, task_duration=7.0, do_wait=True):
        '''
        Move by passing joint angles of an arm.

        @type joint_group: str
        @type joint_angles: [double]
        @type msg_tasktitle: str
        @type task_duration: double
        '''
        raise NotImplementedError(self._MSG_ERR_NOTIMPLEMENTED)

    @abc.abstractmethod
    def set_pose(self, joint_group, pose, rpy, msg_tasktitle=None,
                 task_duration=7.0, do_wait=True, ref_frame_name=None):
        '''
        @type rpy: [float]
        @param rpy: In radian.
        '''
        raise NotImplementedError(self._MSG_ERR_NOTIMPLEMENTED)

    @abc.abstractmethod
    def set_pose_relative(
                        self, joint_group, dx=0, dy=0, dz=0, dr=0, dp=0, dw=0,
                        msg_tasktitle=None, task_duration=7.0, do_wait=True):
        '''        '''
        raise NotImplementedError(self._MSG_ERR_NOTIMPLEMENTED)