def test_steward_gough_platform():
"""Test for steward-gough platform"""
N = 14
f = ("u", "p", "s") * 6
f = [dof_of_joint(j) for j in f]
dof = gruebler3(N, f)
assert dof == 6
def test_other():
"""Other test."""
f = ('r', 'p', 'u', 's')
f = [dof_of_joint(j) for j in f]
N = 4
dof = gruebler3(N, f)
assert dof == 1
def test_delta_robot():
"""Test for the delta robot"""
N = 17
f = ("r", "r", "r", "s", "s", "s", "s") * 3
f = [dof_of_joint(j) for j in f]
dof = gruebler3(N, f)
assert dof == 15
def test_watt_six_bar_linkage():
"""Test Watts mechanism."""
f = ('r', ) * 7
f = [dof_of_joint(j) for j in f]
N = 6
dof = gruebler2(N, f)
assert dof == 1
def test_stephenson_six_bar_linkage():
"""Test Stephensons mechnism."""
f = ('r', ) * 7
f = [dof_of_joint(j) for j in f]
N = 6
dof = gruebler2(N, f)
assert dof == 1
def test_five_bar_linkage():
"""5-bar linkage."""
f = ('r', ) * 5
f = [dof_of_joint(j) for j in f]
N = 5
dof = gruebler2(N, f)
assert dof == 2
def test_kr_robot():
"""4-R robot."""
f = ('r', ) * 4
f = [dof_of_joint(j) for j in f]
N = 5
dof = gruebler2(N, f)
assert dof == 4
def test_unknown_joint_type():
with pytest.raises(UnknownJointTypeException):
dof_of_joint("x")