def test_above_outside_threshold(self):
object_pose = Pose()
object_pose.position.x = 0.0
object_pose.position.y = 0.0
object_pose.position.z = 5.0
object_pose.orientation.x = 0.0
object_pose.orientation.y = 0.0
object_pose.orientation.z = 0.0
object_pose.orientation.w = 1.0
reference_height = 2.0
threshold_distance = 3.0
result = height(object_pose, reference_height, threshold_distance)
self.assertEquals(result, 1)
def test_below_outside_threshold_y_axis(self):
object_pose = Pose()
object_pose.position.x = 0.0
object_pose.position.y = 5.0
object_pose.position.z = 0.0
object_pose.orientation.x = 0.0
object_pose.orientation.y = 0.0
object_pose.orientation.z = 0.0
object_pose.orientation.w = 1.0
reference_height = -1.0
threshold_distance = 2.0
result = height(object_pose,
reference_height,
threshold_distance,
axis='y')
self.assertEquals(result, 1)
def test_above_within_threshold_y_axis(self):
object_pose = Pose()
object_pose.position.x = 0.0
object_pose.position.y = 3.0
object_pose.position.z = 0.0
object_pose.orientation.x = 0.0
object_pose.orientation.y = 0.0
object_pose.orientation.z = 0.0
object_pose.orientation.w = 1.0
reference_height = 1.0
threshold_distance = 4.0
result = height(object_pose,
reference_height,
threshold_distance,
axis='y')
self.assertEquals(result, 0)
def test_below_outside_threshold(self):
object_pose = Pose()
object_pose.position.x = 0.0
object_pose.position.y = 0.0
object_pose.position.z = -5.0
object_pose.orientation.x = 0.0
object_pose.orientation.y = 0.0
object_pose.orientation.z = 0.0
object_pose.orientation.w = 1.0
reference_height = -1.0
threshold_distance = 2.0
result = height(object_pose,
reference_height,
threshold_distance,
direction="negative")
self.assertEquals(result, 1)
def test_below_within_threshold_x_axis(self):
object_pose = Pose()
object_pose.position.x = -2.0
object_pose.position.y = 0.0
object_pose.position.z = 0.0
object_pose.orientation.x = 0.0
object_pose.orientation.y = 0.0
object_pose.orientation.z = 0.0
object_pose.orientation.w = 1.0
reference_height = -1.0
threshold_distance = 4.0
result = height(object_pose,
reference_height,
threshold_distance,
direction="negative",
axis='x')
self.assertEquals(result, 0)
