def test_get_transformation_matrix_num(self): """Test get_transformation_matrix() numerically""" self.assertEqual( transform.get_transformation_matrix(self.num_gamma, self.num_b, self.num_alpha, self.num_d, self.num_theta, self.num_r), self.num_tmat)
def test_get_transformation_matrix_sym(self): """Test get_transformation_matrix() symbolically""" self.assertEqual( transform.get_transformation_matrix(self.sym_gamma, self.sym_b, self.sym_alpha, self.sym_d, self.sym_theta, self.sym_r), self.sym_tmat)
def test_get_transformation_matrix_num(self): """Test get_transformation_matrix() numerically""" self.assertEqual( transform.get_transformation_matrix( self.num_gamma, self.num_b, self.num_alpha, self.num_d, self.num_theta, self.num_r ), self.num_tmat )
def test_get_transformation_matrix_sym(self): """Test get_transformation_matrix() symbolically""" self.assertEqual( transform.get_transformation_matrix( self.sym_gamma, self.sym_b, self.sym_alpha, self.sym_d, self.sym_theta, self.sym_r ), self.sym_tmat )
def test_get_transformation_matrix_sub(self): """Test get_transformation_matrix() by substitution""" t_in_sym = transform.get_transformation_matrix( self.sym_gamma, self.sym_b, self.sym_alpha, self.sym_d, self.sym_theta, self.sym_r) t_in_num = t_in_sym.subs({ self.sym_d: self.num_d, self.sym_theta: self.num_theta }) self.assertEqual(t_in_num, self.num_tmat)
def test_get_transformation_matrix_sub(self): """Test get_transformation_matrix() by substitution""" t_in_sym = transform.get_transformation_matrix( self.sym_gamma, self.sym_b, self.sym_alpha, self.sym_d, self.sym_theta, self.sym_r ) t_in_num = t_in_sym.subs({ self.sym_d: self.num_d, self.sym_theta: self.num_theta }) self.assertEqual(t_in_num, self.num_tmat)