def test_IMU_Rotate(self):
imu = btk.btkIMUType2()
imu.SetFrameNumber(10)
accX = numpy.random.rand(10, 1)
accY = numpy.random.rand(10, 1)
accZ = numpy.random.rand(10, 1)
gyroX = numpy.random.rand(10, 1)
gyroY = numpy.random.rand(10, 1)
gyroZ = numpy.random.rand(10, 1)
imu.GetAccelerometerX().SetValues(accX)
imu.GetAccelerometerY().SetValues(accY)
imu.GetAccelerometerZ().SetValues(accZ)
imu.GetGyroscopeX().SetValues(gyroX)
imu.GetGyroscopeY().SetValues(gyroY)
imu.GetGyroscopeZ().SetValues(gyroZ)
R = numpy.array([[0., -1., 0.], [0., 0., -1.], [-1., 0., 0.]])
imu.Rotate(R)
numpy.testing.assert_almost_equal(imu.GetAccelerometerX().GetValues(),
-accY, 15)
numpy.testing.assert_almost_equal(imu.GetAccelerometerY().GetValues(),
-accZ, 15)
numpy.testing.assert_almost_equal(imu.GetAccelerometerZ().GetValues(),
-accX, 15)
numpy.testing.assert_almost_equal(imu.GetGyroscopeX().GetValues(),
-gyroY, 15)
numpy.testing.assert_almost_equal(imu.GetGyroscopeY().GetValues(),
-gyroZ, 15)
numpy.testing.assert_almost_equal(imu.GetGyroscopeZ().GetValues(),
-gyroX, 15)
def test_IMUType2_noInit(self):
imu = btk.btkIMUType2("LAD", "aayTER", False)
self.assertEqual(imu.GetLabel(), 'LAD')
self.assertEqual(imu.GetDescription(), 'aayTER')
self.assertEqual(imu.GetType(), 2)
self.assertEqual(imu.GetFrequency(), 0.0)
self.assertEqual(imu.GetFrameNumber(), 0)
self.assertEqual(imu.GetChannelNumber(), 0)
def test_IMUType2(self):
imu = btk.btkIMUType2()
self.assertEqual(imu.GetLabel(), 'IMU')
self.assertEqual(imu.GetDescription(), '')
self.assertEqual(imu.GetType(), 2)
self.assertEqual(imu.GetFrequency(), 0.0)
self.assertEqual(imu.GetFrameNumber(), 0)
self.assertEqual(imu.GetChannelNumber(), 6)
def test_IMUType2_noInit(self):
imu = btk.btkIMUType2("LAD", "aayTER", False)
self.assertEqual(imu.GetLabel(), "LAD")
self.assertEqual(imu.GetDescription(), "aayTER")
self.assertEqual(imu.GetType(), 2)
self.assertEqual(imu.GetFrequency(), 0.0)
self.assertEqual(imu.GetFrameNumber(), 0)
self.assertEqual(imu.GetChannelNumber(), 0)
def test_IMUType2(self):
imu = btk.btkIMUType2()
self.assertEqual(imu.GetLabel(), "IMU")
self.assertEqual(imu.GetDescription(), "")
self.assertEqual(imu.GetType(), 2)
self.assertEqual(imu.GetFrequency(), 0.0)
self.assertEqual(imu.GetFrameNumber(), 0)
self.assertEqual(imu.GetChannelNumber(), 6)
def test_IMUType2_Clone(self):
imu_ = btk.btkIMUType2("MyIMU", "blabla")
imu_.SetFrameNumber(10)
imu_.SetFrequency(1.0)
imu_.SetCalMatrix(numpy.eye(6))
imu = imu_.Clone()
self.assertEqual(imu.GetLabel(), 'MyIMU')
self.assertEqual(imu.GetDescription(), 'blabla')
self.assertEqual(imu.GetType(), 2)
self.assertEqual(imu.GetFrequency(), 1.0)
self.assertEqual(imu.GetFrameNumber(), 10)
self.assertEqual(imu.GetChannelNumber(), 6)
self.assertEqual(numpy.all(imu.GetCalMatrix() == numpy.eye(6)), True)
def test_IMUType2_Clone(self):
imu_ = btk.btkIMUType2("MyIMU", "blabla")
imu_.SetFrameNumber(10)
imu_.SetFrequency(1.0)
imu_.SetCalMatrix(numpy.eye(6))
imu = imu_.Clone()
self.assertEqual(imu.GetLabel(), "MyIMU")
self.assertEqual(imu.GetDescription(), "blabla")
self.assertEqual(imu.GetType(), 2)
self.assertEqual(imu.GetFrequency(), 1.0)
self.assertEqual(imu.GetFrameNumber(), 10)
self.assertEqual(imu.GetChannelNumber(), 6)
self.assertEqual(numpy.all(imu.GetCalMatrix() == numpy.eye(6)), True)
def test_IMU_Rotate(self):
imu = btk.btkIMUType2()
imu.SetFrameNumber(10)
accX = numpy.random.rand(10, 1)
accY = numpy.random.rand(10, 1)
accZ = numpy.random.rand(10, 1)
gyroX = numpy.random.rand(10, 1)
gyroY = numpy.random.rand(10, 1)
gyroZ = numpy.random.rand(10, 1)
imu.GetAccelerometerX().SetValues(accX)
imu.GetAccelerometerY().SetValues(accY)
imu.GetAccelerometerZ().SetValues(accZ)
imu.GetGyroscopeX().SetValues(gyroX)
imu.GetGyroscopeY().SetValues(gyroY)
imu.GetGyroscopeZ().SetValues(gyroZ)
R = numpy.array([[0.0, -1.0, 0.0], [0.0, 0.0, -1.0], [-1.0, 0.0, 0.0]])
imu.Rotate(R)
numpy.testing.assert_almost_equal(imu.GetAccelerometerX().GetValues(), -accY, 15)
numpy.testing.assert_almost_equal(imu.GetAccelerometerY().GetValues(), -accZ, 15)
numpy.testing.assert_almost_equal(imu.GetAccelerometerZ().GetValues(), -accX, 15)
numpy.testing.assert_almost_equal(imu.GetGyroscopeX().GetValues(), -gyroY, 15)
numpy.testing.assert_almost_equal(imu.GetGyroscopeY().GetValues(), -gyroZ, 15)
numpy.testing.assert_almost_equal(imu.GetGyroscopeZ().GetValues(), -gyroX, 15)