def __init__(self, surge_vel, sway_vel, initial_angle, end_pose=None):
SingleTest.__init__(self,
twist(surge_vel, sway_vel, 0, 0, 0, 0),
pose(-1.5, 0, 0.7, 0, 0, initial_angle),
timeout=20,
dp_mode=ControlModeEnum.ORIENTATION_DEPTH_HOLD,
end_pose=end_pose)
def __init__(self, yaw_vel):
SingleTest.__init__(
self,
twist(0.0, 0, 0, 0.0, 0, yaw_vel),
pose(0, 0, 0.7, 0, 0, 0),
timeout=15,
dp_mode=ControlModeEnum.DEPTH_HOLD,
)
def roll_tests():
states = [
SingleTest(
twist(0.1, 0, 0, 0.1, 0, 0),
pose(-2, 0, 0.7, 0, 0, 0),
goal_pose=pose(0, 0, 0.7, 90, 0, 0),
dp_mode=ControlModeEnum.POSITION_HEADING_HOLD,
),
]
return states
def __init__(self,
heave_vel,
surge_vel,
initial_angle,
initial_depth,
end_pose=None):
SingleTest.__init__(self,
twist(surge_vel, 0, heave_vel, 0, 0, 0),
pose(-1.5, 0, initial_depth, 0, 0,
initial_angle),
dp_mode=ControlModeEnum.ORIENTATION_HOLD,
end_pose=end_pose)
def __init__(self, velocity, start_depth, end_pose=None):
SingleTest.__init__(self,
twist(0, 0, velocity, 0, 0, 0),
pose(0, 0, start_depth, 0, 0, 0),
dp_mode=ControlModeEnum.ORIENTATION_HOLD,
end_pose=end_pose)
def __init__(self, velocity, orientation, end_pose=None):
SingleTest.__init__(self,
twist(Y=velocity),
pose(-1.5, 0, 0.7, 0, 0, orientation),
dp_mode=ControlModeEnum.ORIENTATION_DEPTH_HOLD,
end_pose=end_pose)