def test_no_duplicate_duration_in_transition_subgait(self):
# Test if the TransitionSubgait is created without an error
transition_subgait = TransitionSubgait.from_subgait_names(
self.gait_selection, 'walk_small', 'walk_medium', 'right_swing')
for joint in transition_subgait.joints:
durations = [setpoint.time for setpoint in joint.setpoints]
self.assertLessEqual(
len(durations),
len(set(durations)),
msg='Duplicate timestamps found in setpoints.')
def test_transition_stairs_up_walk_small_right_swing(self):
# Test if the TransitionSubgait is created without an error
TransitionSubgait.from_subgait_names(self.gait_selection, 'stairs_up',
'walk_small', 'right_swing')
def test_invalid_gait_selection(self):
# check if wrong gait selection module
with self.assertRaises(GaitError):
TransitionSubgait.from_subgait_names('wrong', 'walk_small',
'walk_medium', 'right_swing')
def test_walk_transition_medium_to_small_right_swing(self):
# Test if the TransitionSubgait is created without an error
TransitionSubgait.from_subgait_names(self.gait_selection,
'walk_medium', 'walk_small',
'right_swing')
def test_invalid_subgait_name(self):
# check if wrong subgait name causes right error
with self.assertRaises(GaitError):
TransitionSubgait.from_subgait_names(self.gait_selection,
'walk_small', 'walk_medium',
'wrong')