def test_all_right(self):
step = 30
for hip_transversal in angle_range(0, -90, step=step):
for hip_frontal in angle_range(0, -90, step=step):
for hip_lateral in angle_range(0, 90, step=step):
for knee_lateral in angle_range(0, -180, step=step):
self.assertLowerLimpAnglesEqual((hip_transversal, hip_frontal, hip_lateral, knee_lateral), is_left=False)
def test_multi_DoF_together(self, step=10):
for shoulder_frontal in angle_range(0, 90, step=step):
print(shoulder_frontal)
for shoulder_lateral in angle_range(-90, 90, step=step):
# print(shoulder_frontal, shoulder_lateral)
for elbow_lateral in angle_range(-180, 0, step=step):
# print(shoulder_frontal, shoulder_lateral, elbow_lateral)
self.assertArmAnglesEqual((shoulder_frontal, shoulder_lateral, elbow_lateral), is_left=True)
# print(-shoulder_frontal, -shoulder_lateral, -elbow_lateral)
self.assertArmAnglesEqual((-shoulder_frontal, -shoulder_lateral, -elbow_lateral), is_left=False)
def test_multi_DoF_together(self, step=10):
for shoulder_frontal in angle_range(0, 90, step=step):
print(shoulder_frontal)
for shoulder_lateral in angle_range(-90, 90, step=step):
# print(shoulder_frontal, shoulder_lateral)
for elbow_lateral in angle_range(-180, 0, step=step):
# print(shoulder_frontal, shoulder_lateral, elbow_lateral)
self.assertArmAnglesEqual(
(shoulder_frontal, shoulder_lateral, elbow_lateral),
is_left=True)
# print(-shoulder_frontal, -shoulder_lateral, -elbow_lateral)
self.assertArmAnglesEqual(
(-shoulder_frontal, -shoulder_lateral, -elbow_lateral),
is_left=False)
def test_knee_lateral(self):
for angle in angle_range(0, 180):
self.assertLowerLimpAnglesEqual((0, 0, 0, angle), is_left=True)
for angle in angle_range(0, -180):
self.assertLowerLimpAnglesEqual((0, 0, 0, angle), is_left=False)
def test_hip_lateral(self):
for angle in angle_range(0, -90):
self.assertLowerLimpAnglesEqual((0, 0, angle, 0), is_left=True)
for angle in angle_range(0, 90):
self.assertLowerLimpAnglesEqual((0, 0, angle, 0), is_left=False)
def test_elbow(self):
for angle in angle_range(-180, 0):
self.assertArmAnglesEqual((0, 0, angle), is_left=True)
self.assertArmAnglesEqual((0, 0, angle), is_left=False)
def test_shoulder_frontal(self):
for angle in angle_range(-90, 90):
self.assertArmAnglesEqual((0, angle, 0), is_left=True)
self.assertArmAnglesEqual((0, angle, 0), is_left=False)
def test_elbow(self):
for angle in angle_range(-180, 0):
self.assertArmAnglesEqual((0, 0, angle), is_left=True)
self.assertArmAnglesEqual((0, 0, angle), is_left=False)
def test_shoulder_frontal(self):
for angle in angle_range(-90, 90):
self.assertArmAnglesEqual((0, angle, 0), is_left=True)
self.assertArmAnglesEqual((0, angle, 0), is_left=False)
