def test_index_redirection(self, open_package_mock):
indexer = Indexer()
indexer.add(['test'])
indexer.message_cb('/actuator/test/index', 42)
self.assertEqual(42, indexer.actuators[0].index_pos)
def test_ignores_small_changes(self, open_package_mock):
indexer = Indexer()
actuator = indexer.Actuator('test')
indexer.index_callback(actuator, 0)
indexer.index_callback(actuator, 0.05)
self.assertFalse(actuator.stop)
self.assertEqual(0, actuator.index_pos)
def test_unwind(self):
from math import pi
value = Indexer.unwind(2 * pi - 0.1)
self.assertAlmostEqual(-0.1, value)
value = Indexer.unwind(0.1)
self.assertAlmostEqual(0.1, value)
value = Indexer.unwind(-0.1)
self.assertAlmostEqual(-0.1, value)
value = Indexer.unwind(0.1 - 2 * pi)
self.assertAlmostEqual(0.1, value)
def test_unwind(self):
from math import pi
value = Indexer.unwind(2*pi - 0.1)
self.assertAlmostEqual(-0.1, value)
value = Indexer.unwind(0.1)
self.assertAlmostEqual(0.1, value)
value = Indexer.unwind(-0.1)
self.assertAlmostEqual(-0.1, value)
value = Indexer.unwind(0.1 - 2*pi)
self.assertAlmostEqual(0.1, value)
def test_case_with_zero(self, open_package_mock):
indexer = Indexer()
actuator = indexer.Actuator('test')
actuator.pos_setpoint = 2
indexer.index_callback(actuator, 0)
self.assertEqual(0.3, actuator.pos_setpoint)
indexer.index_callback(actuator, 0.2)
self.assertEqual(0.1, actuator.index_pos)
self.assertTrue(actuator.stop)
def test_basic_case(self, open_package_mock):
indexer = Indexer()
actuator = indexer.Actuator('test')
actuator.pos_setpoint = 2
indexer.index_callback(actuator, 1)
self.assertEqual(1.3, actuator.pos_setpoint)
indexer.index_callback(actuator, 1.2)
self.assertEqual(1.1, actuator.index_pos)
self.assertTrue(actuator.stop)
def test_index_redirection(self, open_package_mock):
indexer = Indexer()
indexer.add(['test'])
indexer.message_cb('/actuator/test/position', 1)
self.assertEqual(1.3, indexer.actuators[0].pos_setpoint)
indexer.message_cb('/actuator/test/position', 1.3)
self.assertAlmostEqual(0.7, indexer.actuators[0].pos_setpoint)
def test_index_redirection(self, open_package_mock):
indexer = Indexer()
indexer.add(['test'])
indexer.message_cb('/actuator/test/position', 1)
self.assertEqual(1.3, indexer.actuators[0].pos_setpoint)
indexer.message_cb('/actuator/test/position', 1.3)
self.assertAlmostEqual(0.7, indexer.actuators[0].pos_setpoint)
def test_ignores_small_changes(self, open_package_mock):
indexer = Indexer()
actuator = indexer.Actuator('test')
indexer.index_callback(actuator, 0)
indexer.index_callback(actuator, 0.05)
self.assertFalse(actuator.stop)
self.assertEqual(0, actuator.index_pos)
def test_index_redirection(self, open_package_mock):
indexer = Indexer()
indexer.add(['test'])
indexer.message_cb('/actuator/test/index', 42)
self.assertEqual(42, indexer.actuators[0].index_pos)
def test_case_with_zero(self, open_package_mock):
indexer = Indexer()
actuator = indexer.Actuator('test')
actuator.pos_setpoint = 2
indexer.index_callback(actuator, 0)
self.assertEqual(0.3, actuator.pos_setpoint)
indexer.index_callback(actuator, 0.2)
self.assertEqual(0.1, actuator.index_pos)
self.assertTrue(actuator.stop)
def test_basic_case(self, open_package_mock):
indexer = Indexer()
actuator = indexer.Actuator('test')
actuator.pos_setpoint = 2
indexer.index_callback(actuator, 1)
self.assertEqual(1.3, actuator.pos_setpoint)
indexer.index_callback(actuator, 1.2)
self.assertEqual(1.1, actuator.index_pos)
self.assertTrue(actuator.stop)
from homing_handler import Indexer indexer = Indexer() indexer.add(['left-shoulder', 'left-elbow', 'left-wrist']) print(indexer.start())
from homing_handler import Indexer indexer = Indexer() indexer.add(["left-shoulder", "left-elbow", "left-wrist"]) print(indexer.start())
def test_can_create_indexer(self, open_package_mock):
indexer = Indexer()
def test_can_create_indexer_actuator(self, open_package_mock):
indexer = Indexer()
actuator = indexer.Actuator('test')