class TestPositionEncoder: def setup_method(self, method): self.encoder = PositionEncoder() def test_simpleJoint_simple(self): position = JointPosition([10,10,10,10,10,10]) line = self.encoder.encode(position) assert line == "move(10,10,10,10,10,10)" def test_simpleJoint_speedFactor(self): position = JointPosition([10,10,10,10,10,10,1]) line = self.encoder.encode(position) assert line == "move(10,10,10,10,10,10,1)" def test_deltaJoint_simple(self): position = DeltaJointPosition([10,10,10,10,10,10]) line = self.encoder.encode(position) assert line == "moveBy(10,10,10,10,10,10)" def test_deltaJoint_speedFactor(self): position = DeltaJointPosition([10,10,10,10,10,10,1]) line = self.encoder.encode(position) assert line == "moveBy(10,10,10,10,10,10,1)", "Wrong delta joint encoding with speed factor" def teardown_method(self, method): del self.encoder
def setup_method(self, method): self.encoder = PositionEncoder()