def _build_goal(self, userdata):
pose = position_tuple_to_pose(userdata.x, userdata.y, userdata.yaw)
return Goal([Precondition(Condition.get('robot.pose'), pose)]) # TODO: prepared goal available: MoveToPoseGoal
def _build_goal(self, userdata):
return Goal([Precondition(Condition.get('awareness'), 4)]) # TODO: prepared goal available: LocalAwareGoal
def testAddSame(self):
self.assertIs(Condition.add(self.condition1), None,
'Could not add new condition')
self.assertRaises(
AssertionError, Condition.add,
self.condition1) # 'Could not add another new condition')
def testGetSame(self):
self.assertIs(Condition.add(self.condition1), None,
'Could not add new condition')
self.assertIs(Condition.get('name1'), self.condition1,
'Could not get that same condition')
def testAdd(self):
self.assertIs(Condition.add(self.condition1), None,
'Could not add new condition')
self.assertIs(Condition.add(self.condition2), None,
'Could not add another new condition')
def setUp(self):
Condition._conditions_dict.clear(
) # start every test without previous conditions
self.condition1 = Condition('name1')
self.condition2 = Condition('name2')
def testGetSame(self):
self.assertIs(Condition.add(self.condition1), None, 'Could not add new condition')
self.assertIs(Condition.get('name1'), self.condition1, 'Could not get that same condition')
def testAddSame(self):
self.assertIs(Condition.add(self.condition1), None, 'Could not add new condition')
self.assertRaises(AssertionError, Condition.add, self.condition1) # 'Could not add another new condition')
def testAdd(self):
self.assertIs(Condition.add(self.condition1), None, 'Could not add new condition')
self.assertIs(Condition.add(self.condition2), None, 'Could not add another new condition')