def test_get_file_path(self):
robot_name_clean = filemgr.get_clean_name(self.tmp_robot.name)
# scenario 1
par_checker = os.path.join(self.tmp_robot.directory,
'%s.par' % robot_name_clean)
par_format = filemgr.get_file_path(self.tmp_robot)
self.assertEqual(par_format, par_checker)
# scenario 2
trm_checker = os.path.join(self.tmp_robot.directory,
'%s_%s.txt' % (robot_name_clean, 'trm'))
trm_format = filemgr.get_file_path(self.tmp_robot, 'trm')
self.assertEqual(trm_format, trm_checker)
def test_get_file_path(self):
robot_name_clean = filemgr.get_clean_name(self.tmp_robot.name)
# scenario 1
par_checker = os.path.join(
self.tmp_robot.directory,
'%s.par' % robot_name_clean
)
par_format = filemgr.get_file_path(self.tmp_robot)
self.assertEqual(par_format, par_checker)
# scenario 2
trm_checker = os.path.join(
self.tmp_robot.directory,
'%s_%s.txt' % (robot_name_clean, 'trm')
)
trm_format = filemgr.get_file_path(self.tmp_robot, 'trm')
self.assertEqual(trm_format, trm_checker)
def set_par_file_path(self, path=None):
if path is None or not os.path.isabs(path):
file_path = filemgr.get_file_path(self)
else:
file_path = path
self.par_file_path = file_path
return file_path
def set_par_file_path(self, path=None):
if path is None or not os.path.isabs(path):
file_path = filemgr.get_file_path(self)
else:
file_path = path
self.par_file_path = file_path
return file_path
def file_open(self, robo, ext):
"""
Initialize file stream
Parameters
==========
robo: Robot instance
provides the robot's name
ext: string
provides the file name extention
"""
fname = filemgr.get_file_path(robo, ext)
self.file_out = open(fname, 'w')
def file_open(self, robo, ext):
"""
Initialize file stream
Parameters
==========
robo: Robot instance
provides the robot's name
ext: string
provides the file name extention
"""
fname = filemgr.get_file_path(robo, ext)
self.file_out = open(fname, 'w')
def compute_baseparams(self):
"""
Compute the Base Inertial Parameters of the robot.
"""
base_robo = copy.deepcopy(self)
symo = symbolmgr.SymbolManager()
symo.file_open(base_robo, 'regp')
title = "Base Inertial Parameters equations"
symo.write_params_table(base_robo, title, inert=True, dynam=True)
# compute base inertial params
baseparams.base_inertial_parameters(base_robo, symo)
symo.write_line()
title = "Grouped inertial parameters"
symo.write_params_table(base_robo, title, inert=True, equations=False)
symo.file_close()
# set new name for robot with base params
base_robo.name = base_robo.name + "_base"
file_path = filemgr.get_file_path(base_robo)
base_robo.set_par_file_path(file_path)
return symo, base_robo
def compute_baseparams(self):
"""
Compute the Base Inertial Parameters of the robot.
"""
base_robo = copy.deepcopy(self)
symo = symbolmgr.SymbolManager()
symo.file_open(base_robo, 'regp')
title = "Base Inertial Parameters equations"
symo.write_params_table(
base_robo, title, inert=True, dynam=True
)
# compute base inertial params
baseparams.base_inertial_parameters(base_robo, symo)
symo.write_line()
title = "Grouped inertial parameters"
symo.write_params_table(
base_robo, title, inert=True, equations=False
)
symo.file_close()
# set new name for robot with base params
base_robo.name = base_robo.name + "_base"
file_path = filemgr.get_file_path(base_robo)
base_robo.set_par_file_path(file_path)
return symo, base_robo
