def test_map_hypothesis_vector3_to_rospy():
hypothesis_vector3 = vector3().example()
rospy_type = map_vector3(hypothesis_vector3)
assert isinstance(
rospy_type, Vector3
), 'Hypothesis type ({}) could not be mapped to rospy type ({}).'.format(
hypothesis_type, rospy_type)
def imu(draw,
header=header(),
orientation=quaternion(),
orientation_covariance=array(elements=float64(),
min_size=9,
max_size=9),
angular_velocity=vector3(),
angular_velocity_covariance=array(elements=float64(),
min_size=9,
max_size=9),
linear_acceleration=vector3(),
linear_acceleration_covariance=array(elements=float64(),
min_size=9,
max_size=9)):
"""
Generate values for ROS1 sensor_msgs/Imu.msg.
Parameters
----------
header : hypothesis_ros.std_msgs.header()
Strategy to generate header value. (Default: Default hypothesis_ros strategy.)
orientation : hypothesis_ros.geometry_msgs.Quaternion()
Strategy to generate orientation value. (Default: Default hypothesis_ros strategy.)
orientation_covariance : hypothesis_ros.message_fields.array()
Strategy to generate orientation_covariance value. (Default: Customized to 9 elements of type float64().)
angular_velocity : hypothesis_ros.messages.geometry_msgs.vector3()
Strategy to generate angular_velocity value. (Default: Default hypothesis_ros strategy.)
angular_velocity_covariance : hypothesis_ros.message_fields.array()
Strategy to generate angular_velocity_covariance value. (Default: Customized to 9 elements of type float64().)
linear_acceleration : hypothesis_ros.messages.geometry_msgs.vector3()
Strategy to generate linear_acceleration value. (Default: Default hypothesis_ros strategy.)
linear_acceleration_covariance : hypothesis_ros.messages.message_fields.array()
Strategy to generate linear_acceleration_covariance value. (Default: Customized to 9 elements of type float64().)
"""
header_value = draw(header)
orientation_value = draw(orientation)
orientation_covariance_value = draw(orientation_covariance)
angular_velocity_value = draw(angular_velocity)
angular_velocity_covariance_value = draw(angular_velocity_covariance)
linear_acceleration_value = draw(linear_acceleration)
linear_acceleration_covariance_value = draw(linear_acceleration_covariance)
# TODO: add validation
return _Imu(header_value, orientation_value, orientation_covariance_value,
angular_velocity_value, angular_velocity_covariance_value,
linear_acceleration_value,
linear_acceleration_covariance_value)
array,
float64,
uint32,
time,
)
@given(
array(elements=transform_stamped(
header(seq=uint32(min_value=0, max_value=0),
stamp=time(secs=uint32(min_value=1, max_value=1),
nsecs=uint32(min_value=2, max_value=2)),
frame_id=just('some_tf_frame_name')),
just('some_child_frame_id'),
transform(translation=vector3(x=float64(min_value=1.0, max_value=1.0),
y=float64(min_value=2.0, max_value=2.0),
z=float64(min_value=3.0, max_value=3.0)),
rotation=quaternion(x=float64(min_value=1.0, max_value=1.0),
y=float64(min_value=2.0, max_value=2.0),
z=float64(min_value=3.0, max_value=3.0),
w=float64(min_value=4.0,
max_value=4.0)))),
min_size=2,
max_size=2))
def test_tfmessage_accepts_customized_strategies(generated_value):
"""Exemplary customized TFMessage."""
assert generated_value == [
((0, (1, 2), 'some_tf_frame_name'), 'some_child_frame_id',
((1.0, 2.0, 3.0), (1.0, 2.0, 3.0, 4.0))),
((0, (1, 2), 'some_tf_frame_name'), 'some_child_frame_id',
((1.0, 2.0, 3.0), (1.0, 2.0, 3.0, 4.0)))
@given(imu(header(seq=uint32(min_value=0, max_value=0),
stamp=time(secs=uint32(min_value=1, max_value=1),
nsecs=uint32(min_value=2, max_value=2)
),
frame_id=just('some_tf_frame_name')
),
quaternion(x=float64(min_value=1.0, max_value=1.0),
y=float64(min_value=2.0, max_value=2.0),
z=float64(min_value=3.0, max_value=3.0),
w=float64(min_value=4.0, max_value=4.0)
),
array(elements=float64(min_value=1.0, max_value=1.0), min_size=9, max_size=9),
vector3(x=float64(min_value=1.0, max_value=1.0),
y=float64(min_value=2.0, max_value=2.0),
z=float64(min_value=3.0, max_value=3.0)
),
array(elements=float64(min_value=2.0, max_value=2.0), min_size=9, max_size=9),
vector3(x=float64(min_value=1.0, max_value=1.0),
y=float64(min_value=2.0, max_value=2.0),
z=float64(min_value=3.0, max_value=3.0)
),
array(elements=float64(min_value=3.0, max_value=3.0), min_size=9, max_size=9)
)
)
def test_imu_accepts_customized_strategies(generated_values):
"""Exemplary customized imu message fields."""
assert generated_values == ((0, (1, 2), 'some_tf_frame_name'),
(1.0, 2.0, 3.0, 4.0),
[1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0],
(1.0, 2.0, 3.0),