def test_import_polulu(self): # Get data, with a specified input from a POLULU system inFile = r'data\data_polulu.txt' data = imus.import_data(inFile, type='polulu', paramList=['rate', 'acc', 'omega', 'mag']) rate = data[0] acc = data[1] omega = data[2] self.assertAlmostEqual((rate - 125), 0) self.assertAlmostEqual( (acc[0,1] + 0.004575), 0)
def test_import_yei(self): # Get data, with a specified input from a YEI system inFile = r'data\data_yei.txt' data = imus.import_data(inFile, type='yei', paramList=['rate', 'acc', 'omega', 'mag']) rate = data[0] acc = data[1] omega = data[2] self.assertAlmostEqual((rate - 109.99508526563774), 0) self.assertAlmostEqual( (omega[0,2] - 0.0081446301192045212), 0)
def test_import_xio(self): # Get data, with a specified input from an XIO system inFile = r'data\data_xio\00033_CalInertialAndMag.csv' data = imus.import_data(inFile, type='xio', paramList=['rate', 'acc', 'omega', 'mag']) rate = data[0] acc = data[1] omega = data[2] self.assertAlmostEqual((rate - 256), 0) self.assertAlmostEqual( (omega[0,2] -10.125), 0)
def test_import_xsens(self): # Get data, with a specified input from an XSens system inFile = r'data\data_xsens.txt' data = imus.import_data(inFile, type='XSens', paramList=['rate', 'acc', 'omega']) rate = data[0] acc = data[1] omega = data[2] self.assertEqual(rate, 50.) self.assertAlmostEqual( (omega[0,2] - 0.050860000000000002), 0)
def test_import_polulu(self): # Get data, with a specified input from a POLULU system inFile = r'data\data_polulu.txt' data = imus.import_data(inFile, type='polulu', paramList=['rate', 'acc', 'omega', 'mag']) rate = data[0] acc = data[1] omega = data[2] self.assertAlmostEqual((rate - 125), 0) self.assertAlmostEqual((acc[0, 1] + 0.004575), 0)
def test_import_yei(self): # Get data, with a specified input from a YEI system inFile = r'data\data_yei.txt' data = imus.import_data(inFile, type='yei', paramList=['rate', 'acc', 'omega', 'mag']) rate = data[0] acc = data[1] omega = data[2] self.assertAlmostEqual((rate - 109.99508526563774), 0) self.assertAlmostEqual((omega[0, 2] - 0.0081446301192045212), 0)
def test_import_xio(self): # Get data, with a specified input from an XIO system inFile = r'data\data_xio\00033_CalInertialAndMag.csv' data = imus.import_data(inFile, type='xio', paramList=['rate', 'acc', 'omega', 'mag']) rate = data[0] acc = data[1] omega = data[2] self.assertAlmostEqual((rate - 256), 0) self.assertAlmostEqual((omega[0, 2] - 10.125), 0)
def test_import_xsens(self): # Get data, with a specified input from an XSens system inFile = r'data\data_xsens.txt' data = imus.import_data(inFile, type='XSens', paramList=['rate', 'acc', 'omega']) rate = data[0] acc = data[1] omega = data[2] self.assertEqual(rate, 50.) self.assertAlmostEqual((omega[0, 2] - 0.050860000000000002), 0)
def test_calc_QPos(self): # Get data inFile = r'data\data_xsens.txt' data = imus.import_data(inFile, type='XSens', paramList=['rate', 'acc', 'omega', 'mag']) rate = data[0] acc = data[2] omega = data[3] initialPosition = array([0,0,0]) R_initialOrientation = rotmat.R1(90) q1, pos1 = imus.calc_QPos(R_initialOrientation, omega, initialPosition, acc, rate) plt.plot(q1) plt.show()
def test_calc_QPos(self): # Get data inFile = r'data\data_xsens.txt' data = imus.import_data(inFile, type='XSens', paramList=['rate', 'acc', 'omega', 'mag']) rate = data[0] acc = data[2] omega = data[3] initialPosition = array([0, 0, 0]) R_initialOrientation = rotmat.R1(90) q1, pos1 = imus.calc_QPos(R_initialOrientation, omega, initialPosition, acc, rate) plt.plot(q1) plt.show()
def test_import_empty(self): # Get data, with an empty input data = imus.import_data()
def test_import_empty(self): # Get data, with an empty input data = imus.import_data()