def test_sensors_list_add_sensors(self): sensors = iDynTree.SensorsList() sensor = iDynTree.AccelerometerSensor() sensor.name = "a_name" sensor.parent_link_index = 1 sensors.add_sensor(sensor) self.assertEqual(sensors.get_nr_of_sensors(iDynTree.ACCELEROMETER), 1) self.assertEqual(sensors.get_nr_of_sensors(iDynTree.GYROSCOPE), 0)
def test_custom_sensors(self):
exporter = iDynTree.ModelExporter()
model = iDynTree.Model()
link = iDynTree.Link()
model.add_link("a_link", link)
sensors = iDynTree.SensorsList()
sensor = iDynTree.AccelerometerSensor()
sensor.name = "a_name"
sensor.parent_link_index = 1
sensors.add_sensor(sensor)
exporter.init(model, sensors=sensors)
self.assertEqual(
exporter.sensors.get_nr_of_sensors(iDynTree.ACCELEROMETER), 1)
def test_link_sensor_transform(self):
sensor = iDynTree.AccelerometerSensor()
position = iDynTree.Position(1, 2, 3)
rotation = iDynTree.Rotation(0, 0, 1,
1, 0, 0,
0, 1, 0)
sensor.link_sensor_transform = iDynTree.Transform(rotation, position)
# Assert the content is the same.
for r, c in itertools.product(range(3), range(3)):
self.assertEqual(
sensor.link_sensor_transform.rotation[r, c], rotation[r, c])
for i in range(3):
self.assertEqual(sensor.link_sensor_transform.position[i], position[i])
def test_link_sensor_link_index(self): sensor = iDynTree.AccelerometerSensor() sensor.parent_link_index = 1 self.assertEqual(sensor.parent_link_index, 1)
def test_link_sensor_link(self): sensor = iDynTree.AccelerometerSensor() sensor.parent_link = "a_link" self.assertEqual(sensor.parent_link, "a_link")
def test_link_sensor_name(self): sensor = iDynTree.AccelerometerSensor() sensor.name = "a_sensor" self.assertEqual(sensor.name, "a_sensor")
def test_accelerometer_sensor(self): sensor = iDynTree.AccelerometerSensor() self.assertEqual(sensor.sensor_type, iDynTree.ACCELEROMETER)