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)
