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| 1 | +#!/usr/bin/env python3 |
| 2 | +# -*- coding: utf-8 -*- |
| 3 | +""" |
| 4 | +Created on Fri May 1 14:04:04 2020 |
| 5 | +@author: Jesse Haviland |
| 6 | +""" |
| 7 | + |
| 8 | +import numpy.testing as nt |
| 9 | +import numpy as np |
| 10 | +import roboticstoolbox as rp |
| 11 | +import spatialmath.base as sm |
| 12 | +import unittest |
| 13 | + |
| 14 | + |
| 15 | +class TestET(unittest.TestCase): |
| 16 | + |
| 17 | + def test_TRx(self): |
| 18 | + fl = 1.543 |
| 19 | + |
| 20 | + nt.assert_array_almost_equal(rp.ET.TRx(fl), sm.trotx(fl)) |
| 21 | + nt.assert_array_almost_equal(rp.ET.TRx(-fl), sm.trotx(-fl)) |
| 22 | + nt.assert_array_almost_equal(rp.ET.TRx(0), sm.trotx(0)) |
| 23 | + |
| 24 | + def test_TRy(self): |
| 25 | + fl = 1.543 |
| 26 | + |
| 27 | + nt.assert_array_almost_equal(rp.ET.TRy(fl), sm.troty(fl)) |
| 28 | + nt.assert_array_almost_equal(rp.ET.TRy(-fl), sm.troty(-fl)) |
| 29 | + nt.assert_array_almost_equal(rp.ET.TRy(0), sm.troty(0)) |
| 30 | + |
| 31 | + def test_TRz(self): |
| 32 | + fl = 1.543 |
| 33 | + |
| 34 | + nt.assert_array_almost_equal(rp.ET.TRz(fl), sm.trotz(fl)) |
| 35 | + nt.assert_array_almost_equal(rp.ET.TRz(-fl), sm.trotz(-fl)) |
| 36 | + nt.assert_array_almost_equal(rp.ET.TRz(0), sm.trotz(0)) |
| 37 | + |
| 38 | + def test_Ttx(self): |
| 39 | + fl = 1.543 |
| 40 | + |
| 41 | + nt.assert_array_almost_equal(rp.ET.Ttx(fl), sm.transl(fl, 0, 0)) |
| 42 | + nt.assert_array_almost_equal(rp.ET.Ttx(-fl), sm.transl(-fl, 0, 0)) |
| 43 | + nt.assert_array_almost_equal(rp.ET.Ttx(0), sm.transl(0, 0, 0)) |
| 44 | + |
| 45 | + def test_Tty(self): |
| 46 | + fl = 1.543 |
| 47 | + |
| 48 | + nt.assert_array_almost_equal(rp.ET.Tty(fl), sm.transl(0, fl, 0)) |
| 49 | + nt.assert_array_almost_equal(rp.ET.Tty(-fl), sm.transl(0, -fl, 0)) |
| 50 | + nt.assert_array_almost_equal(rp.ET.Tty(0), sm.transl(0, 0, 0)) |
| 51 | + |
| 52 | + def test_Ttz(self): |
| 53 | + fl = 1.543 |
| 54 | + |
| 55 | + nt.assert_array_almost_equal(rp.ET.Ttz(fl), sm.transl(0, 0, fl)) |
| 56 | + nt.assert_array_almost_equal(rp.ET.Ttz(-fl), sm.transl(0, 0, -fl)) |
| 57 | + nt.assert_array_almost_equal(rp.ET.Ttz(0), sm.transl(0, 0, 0)) |
| 58 | + |
| 59 | + def test_str(self): |
| 60 | + rx = rp.ET(rp.ET.TRx, 1.543) |
| 61 | + ry = rp.ET(rp.ET.TRy, 1.543) |
| 62 | + rz = rp.ET(rp.ET.TRz, 1.543) |
| 63 | + tx = rp.ET(rp.ET.Ttx, 1.543) |
| 64 | + ty = rp.ET(rp.ET.Tty, 1.543) |
| 65 | + tz = rp.ET(rp.ET.Ttz, 1.543) |
| 66 | + |
| 67 | + self.assertEqual(str(rx), 'Rx(88.4074)') |
| 68 | + self.assertEqual(str(ry), 'Ry(88.4074)') |
| 69 | + self.assertEqual(str(rz), 'Rz(88.4074)') |
| 70 | + self.assertEqual(str(tx), 'tx(1.543)') |
| 71 | + self.assertEqual(str(ty), 'ty(1.543)') |
| 72 | + self.assertEqual(str(tz), 'tz(1.543)') |
| 73 | + self.assertEqual(str(rx), repr(rx)) |
| 74 | + self.assertEqual(str(ry), repr(ry)) |
| 75 | + self.assertEqual(str(rz), repr(rz)) |
| 76 | + self.assertEqual(str(tx), repr(tx)) |
| 77 | + self.assertEqual(str(ty), repr(ty)) |
| 78 | + self.assertEqual(str(tz), repr(tz)) |
| 79 | + |
| 80 | + def test_str_q(self): |
| 81 | + rx = rp.ET(rp.ET.TRx, i=86) |
| 82 | + ry = rp.ET(rp.ET.TRy, i=86) |
| 83 | + rz = rp.ET(rp.ET.TRz, i=86) |
| 84 | + tx = rp.ET(rp.ET.Ttx, i=86) |
| 85 | + ty = rp.ET(rp.ET.Tty, i=86) |
| 86 | + tz = rp.ET(rp.ET.Ttz, i=86) |
| 87 | + |
| 88 | + self.assertEqual(str(rx), 'Rx(q86)') |
| 89 | + self.assertEqual(str(ry), 'Ry(q86)') |
| 90 | + self.assertEqual(str(rz), 'Rz(q86)') |
| 91 | + self.assertEqual(str(tx), 'tx(q86)') |
| 92 | + self.assertEqual(str(ty), 'ty(q86)') |
| 93 | + self.assertEqual(str(tz), 'tz(q86)') |
| 94 | + self.assertEqual(str(rx), repr(rx)) |
| 95 | + self.assertEqual(str(ry), repr(ry)) |
| 96 | + self.assertEqual(str(rz), repr(rz)) |
| 97 | + self.assertEqual(str(tx), repr(tx)) |
| 98 | + self.assertEqual(str(ty), repr(ty)) |
| 99 | + self.assertEqual(str(tz), repr(tz)) |
| 100 | + |
| 101 | + def test_T_real(self): |
| 102 | + fl = 1.543 |
| 103 | + rx = rp.ET(rp.ET.TRx, fl) |
| 104 | + ry = rp.ET(rp.ET.TRy, fl) |
| 105 | + rz = rp.ET(rp.ET.TRz, fl) |
| 106 | + tx = rp.ET(rp.ET.Ttx, fl) |
| 107 | + ty = rp.ET(rp.ET.Tty, fl) |
| 108 | + tz = rp.ET(rp.ET.Ttz, fl) |
| 109 | + |
| 110 | + nt.assert_array_almost_equal(rx.T(), sm.trotx(fl)) |
| 111 | + nt.assert_array_almost_equal(ry.T(), sm.troty(fl)) |
| 112 | + nt.assert_array_almost_equal(rz.T(), sm.trotz(fl)) |
| 113 | + nt.assert_array_almost_equal(tx.T(), sm.transl(fl, 0, 0)) |
| 114 | + nt.assert_array_almost_equal(ty.T(), sm.transl(0, fl, 0)) |
| 115 | + nt.assert_array_almost_equal(tz.T(), sm.transl(0, 0, fl)) |
| 116 | + |
| 117 | + def test_T_real(self): |
| 118 | + fl = 1.543 |
| 119 | + rx = rp.ET(rp.ET.TRx, i=86) |
| 120 | + ry = rp.ET(rp.ET.TRy, i=86) |
| 121 | + rz = rp.ET(rp.ET.TRz, i=86) |
| 122 | + tx = rp.ET(rp.ET.Ttx, i=86) |
| 123 | + ty = rp.ET(rp.ET.Tty, i=86) |
| 124 | + tz = rp.ET(rp.ET.Ttz, i=86) |
| 125 | + |
| 126 | + nt.assert_array_almost_equal(rx.T(fl), sm.trotx(fl)) |
| 127 | + nt.assert_array_almost_equal(ry.T(fl), sm.troty(fl)) |
| 128 | + nt.assert_array_almost_equal(rz.T(fl), sm.trotz(fl)) |
| 129 | + nt.assert_array_almost_equal(tx.T(fl), sm.transl(fl, 0, 0)) |
| 130 | + nt.assert_array_almost_equal(ty.T(fl), sm.transl(0, fl, 0)) |
| 131 | + nt.assert_array_almost_equal(tz.T(fl), sm.transl(0, 0, fl)) |
| 132 | + |
| 133 | + |
| 134 | +if __name__ == '__main__': |
| 135 | + |
| 136 | + unittest.main() |
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