8000 Fixed error raising, and added documentation for error raising. · NickNgHK/robotics-toolbox-python@bd2771d · GitHub
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micah-huthmicah-huth
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Fixed error raising, and added documentation for error raising.
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+34
-4
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4 files changed

+34
-4
lines changed

‎graphics/common_functions.py

Lines changed: 4 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,8 @@
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from vpython import radians, vector
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3+
"""
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global variables that can be used to easily reference X, Y, and Z axes directions.
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"""
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x_axis_vector = vector(1, 0, 0)
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y_axis_vector = vector(0, 1, 0)
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z_axis_vector = vector(0, 0, 1)
@@ -13,6 +16,7 @@ def wrap_to_pi(angle_type, angle):
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:type angle_type: `str`
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:param angle: The angle to wrap
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:type angle: `float`
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:raises ValueError: Throws the error if the given string is not "deg" or "rad"
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:return: The wrapped angle
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:rtype: `float`
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"""

‎graphics/graphics_grid.py

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Original file line numberDiff line numberDiff line change
@@ -10,6 +10,9 @@ def __init__(self):
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self.camera_pos = scene.camera.pos
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self.camera_axes = scene.camera.axis
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# Initialise a grid object
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# grid_object[0] will always be the 3 plane graphics. [XY, XZ, YZ] (alphabetical in order and connection)
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# grid_object[1] will always be the labels. There is always a certain number of indices.
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# Order is [x-plane numbers, "X", y-plane numbers, "Y", z-plane numbers, "Z"]
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self.grid_object = [[], []]
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self.__init_grid()
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‎graphics/graphics_robot.py

Lines changed: 14 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -79,6 +79,7 @@ def rotate_around_joint_axis(self, angle_of_rotation, axis_of_rotation):
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:type angle_of_rotation: float (radians)
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:param axis_of_rotation: X, Y, or Z axis to apply around the objects specific X, Y, or Z axes
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:type axis_of_rotation: class:`vpython.vector`
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:raise ValueError: The given axis_of_rotation must be one of the default X, Y, Z vectors (e.g. x_axis_vector)
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"""
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# Determine the axis of rotation based on the given joint axis direction
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# Then add the rotation amount to the axis counter
@@ -274,6 +275,7 @@ def get_rotation_angle(self, axis):
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:type axis: class:`vpython.vector`
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:return: Current angle of rotation with respect to world (includes rotation from previous joints)
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:rtype: float (radians)
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:raise ValueError: The given axis_of_rotation must be one of the default X, Y, Z vectors (e.g. x_axis_vector)
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"""
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# Ensure copying value not reference
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ans = 0.0
@@ -284,7 +286,9 @@ def get_rotation_angle(self, axis):
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elif axis.equals(z_axis_vector):
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ans += self.__z_rotation
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else:
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ans += self.__y_rotation
289+
error_str = "Bad input vector given ({0}). Must be either x_axis_vector ({1}), y_axis_vector ({2})," \
290+
"or z_axis_vector ({3})."
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raise ValueError(error_str.format(axis), x_axis_vector, y_axis_vector, z_axis_vector)
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return ans
290294

@@ -296,6 +300,7 @@ def get_axis_vector(self, axis):
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:type axis: class:`vpython.vector`
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:return: Current vector representation of the joints X, Y, or Z axis
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:rtype: class:`vpython.vector`
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:raise ValueError: The given axis_of_rotation must be one of the default X, Y, Z vectors (e.g. x_axis_vector)
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"""
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# Return new vectors to avoid pass by reference
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if axis.equals(x_axis_vector):
@@ -305,7 +310,9 @@ def get_axis_vector(self, axis):
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elif axis.equals(z_axis_vector):
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return vector(self.__z_vector)
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else:
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return vector(self.__y_vector)
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error_str = "Bad input vector given ({0}). Must be either x_axis_vector ({1}), y_axis_vector ({2})," \
314+
"or z_axis_vector ({3})."
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raise ValueError(error_str.format(axis), x_axis_vector, y_axis_vector, z_axis_vector)
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def get_joint_type(self):
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"""
@@ -459,6 +466,7 @@ class GraphicalRobot:
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:param joints: A list of the joints in order from base (0) to gripper (end), or other types.
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:type joints: list
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:raise ValueError: The given length of joints must not be 0
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"""
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def __init__(self, joints):
@@ -514,6 +522,8 @@ def set_joint_angle(self, link_num, new_angle):
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:type link_num: int
515523
:param new_angle: The required angle to set the arm rotated towards
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:type new_angle: float (radians)
525+
:raise IndexError: Link index must be between 0 (inclusive) and number of joints (exclusive)
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:raise TypeError: The joint index chosen must be indexing a revolute joint
517527
"""
518528
if (link_num < 0) or (link_num >= self.num_joints):
519529
error_str = "link number given ({0}) is not between range of 0 (inclusive) and {1} (exclusive)"
@@ -538,7 +548,7 @@ def set_joint_angle(self, link_num, new_angle):
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self.__position_joints()
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else:
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error_str = "Given joint {0} is not a revolute joint. It is a {1} joint"
541-
raise ValueError(error_str.format(link_num, self.joints[link_num].get_joint_type()))
551+
raise TypeError(error_str.format(link_num, self.joints[link_num].get_joint_type()))
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543553
def set_all_joint_angles(self, new_angles):
544554
"""
@@ -547,6 +557,7 @@ def set_all_joint_angles(self, new_angles):
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:param new_angles: List of new angles (radians) to set each joint to.
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Must have the same length as number of joints in robot arm, even if the joints aren't revolute
549559
:type new_angles: float list (radians)
560+
:raise IndexError: The length of the given list must equal the number of joints.
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"""
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# Raise error if lengths don't match
552563
if len(new_angles) != len(self.joints):

‎tests/graphics_test_features.py

Lines changed: 13 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -7,7 +7,9 @@
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Next select which test you which to run, and call the function.
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A canvas will be created and display the respective graphics.
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Verify the output is as expected.
10-
Then close the browser window and run a different function. (Help clear graphics. Currently, no clearing implemented)
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Then close the browser window and run a different function. (Help clear graphics. Currently, no clearing implemented).
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12+
Alternatively, executing this file will run the test_puma560_angle_change() function.
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"""
1214

1315
from graphics.model_puma560 import *
@@ -141,15 +143,25 @@ def test_puma560_angle_change():
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142144

143145
def test_clear_scene():
146+
"""
147+
This test will import the Puma560 model, then after 2 seconds, clear the canvas of all models.
148+
"""
144149
the_grid = init_canvas()
150+
145151
puma560 = import_puma_560()
146152
puma560.move_base(vector(1, 1, 0))
153+
147154
sleep(2)
155+
148156
the_grid.clear_scene()
149157
del puma560
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152160
def test_clear_scene_with_grid_updating():
161+
"""
162+
This test will import the Puma560 model, then after 2 seconds, clear the canvas of all models.
163+
Meanwhile, grid update calls have been placed in between. (Currently the only way to update the grid)
164+
"""
153165
the_grid = init_canvas()
154166
puma560 = import_puma_560()
155167 380A
the_grid.update_grid()

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