def test_ikine(self):
# Test one case that is good
self.solver = RRRSolver(1, 1, 1, [-10, 360], [-10, 360], [-10, 360])
# Init pose
init_pose_angle = (0., math.pi / 4, 0.)
end_pose_angle = self.solver.ikine(
[1.7071067811865475, 0.0, 1.7071067811865475])
assert end_pose_angle == init_pose_angle
def test_fkine(self):
# Test one case that is good
self.solver = RRRSolver(1, 1, 1, [-10, 360], [-10, 360], [-10, 360])
# Init pose
init_pose_angle = [0, math.pi / 4, 0]
# fkine
result = self.solver.fkine(init_pose_angle)
assert result == (1.7071067811865475, 0.0, 1.7071067811865475)
def test_calibration_2(self):
self.solver = RRRSolver(1, 1, 1, [-10, 360], [-10, 360], [-10, 360])
with pytest.raises(ValueError):
self.solver.calibration([0, 0, 0], [0, 0, -1], [0, 180], [0, 180],
[0, 180])
class TestRRRSolver:
"""
Test the class KinematicSolver
"""
solver = 0
def test_init_solver_1(self):
# If there is no robot l1 = l2 = l3 = 0
with pytest.raises(ValueError):
self.solver = RRRSolver(0, 0, 0, [0, 180], [0, 180], [0, 180])
def test_init_solver_2(self):
# If there is no negative length
with pytest.raises(ValueError):
self.solver = RRRSolver(0, -1, 0, [0, 180], [0, 180], [0, 180])
def test_init_solver_3(self):
# If there is no robot l2 = l3 = 0
with pytest.raises(ValueError):
self.solver = RRRSolver(1, 0, 0, [0, 180], [0, 180], [0, 180])
def test_check_angle_1(self):
self.solver = RRRSolver(1, 1, 1, [-10, 360], [-10, 360], [-10, 360])
result = self.solver.check_angle([-20, 0, 0])
assert result is False
def test_check_angle_2(self):
self.solver = RRRSolver(1, 1, 1, [-10, 360], [-10, 360], [-10, 360])
result = self.solver.check_angle([-0, 400, 0])
assert result is False
def test_check_angle_3(self):
self.solver = RRRSolver(1, 1, 1, [-10, 360], [-10, 360], [-10, 360])
result = self.solver.check_angle([-20, -20, -20])
assert result is False
def test_check_angle_4(self):
self.solver = RRRSolver(1, 1, 1, [-10, 360], [-10, 360], [-10, 360])
result = self.solver.check_angle([0, 0, 0])
assert result is True
def test_calibration_1(self):
self.solver = RRRSolver(1, 1, 1, [-10, 360], [-10, 360], [-10, 360])
with pytest.raises(ValueError):
self.solver.calibration([0, 0, 0], [1, 1, 0], [0, 180], [0, 180],
[0, 180])
def test_calibration_2(self):
self.solver = RRRSolver(1, 1, 1, [-10, 360], [-10, 360], [-10, 360])
with pytest.raises(ValueError):
self.solver.calibration([0, 0, 0], [0, 0, -1], [0, 180], [0, 180],
[0, 180])
def test_fkine(self):
# Test one case that is good
self.solver = RRRSolver(1, 1, 1, [-10, 360], [-10, 360], [-10, 360])
# Init pose
init_pose_angle = [0, math.pi / 4, 0]
# fkine
result = self.solver.fkine(init_pose_angle)
assert result == (1.7071067811865475, 0.0, 1.7071067811865475)
def test_ikine(self):
# Test one case that is good
self.solver = RRRSolver(1, 1, 1, [-10, 360], [-10, 360], [-10, 360])
# Init pose
init_pose_angle = (0., math.pi / 4, 0.)
end_pose_angle = self.solver.ikine(
[1.7071067811865475, 0.0, 1.7071067811865475])
assert end_pose_angle == init_pose_angle
def test_check_angle_4(self):
self.solver = RRRSolver(1, 1, 1, [-10, 360], [-10, 360], [-10, 360])
result = self.solver.check_angle([0, 0, 0])
assert result is True
def test_check_angle_3(self):
self.solver = RRRSolver(1, 1, 1, [-10, 360], [-10, 360], [-10, 360])
result = self.solver.check_angle([-20, -20, -20])
assert result is False
def test_init_solver_3(self):
# If there is no robot l2 = l3 = 0
with pytest.raises(ValueError):
self.solver = RRRSolver(1, 0, 0, [0, 180], [0, 180], [0, 180])
def test_init_solver_2(self):
# If there is no negative length
with pytest.raises(ValueError):
self.solver = RRRSolver(0, -1, 0, [0, 180], [0, 180], [0, 180])