def TestTranslationModification(self):
"""Test translation modification."""
frame = vctFrm3()
translation = frame.Translation()
translation.fill(10.0)
translationOtherRef = frame.Translation()
translationsAreEqual = (translation == translationOtherRef).all()
self.failUnless(translationsAreEqual)
def TestTranslationModification(self):
"""Test translation modification."""
frame = vctFrm3()
translation = frame.Translation()
translation.fill(10.0)
translationOtherRef = frame.Translation()
translationsAreEqual = (translation == translationOtherRef).all()
self.failUnless(translationsAreEqual)
def TestCreation(self):
"""Test default constructor."""
frame = vctFrm3()
translation = frame.Translation()
translationIsZero = (self.ZeroTranslation == translation).all()
self.failUnless(translationIsZero)
rotation = frame.Rotation()
rotationIsIdentity = (self.IdentityRotation == rotation).all()
self.failUnless(rotationIsIdentity)
def TestCreation(self):
"""Test default constructor."""
frame = vctFrm3()
translation = frame.Translation()
translationIsZero = (self.ZeroTranslation == translation).all()
self.failUnless(translationIsZero)
rotation = frame.Rotation()
rotationIsIdentity = (self.IdentityRotation == rotation).all()
self.failUnless(rotationIsIdentity)
def TestRotationModification(self):
"""Test translation modification."""
frame = vctFrm3()
rotation = frame.Rotation()
rotation[0, 0] = 0.0
rotation[0, 1] = -1.0
rotation[1, 0] = 1.0
rotation[1, 1] = 0.0
rotationOtherRef = frame.Rotation()
rotationsAreEqual = (rotation == rotationOtherRef).all()
self.failUnless(rotationsAreEqual)
self.failUnless(numpy.linalg.det(rotation) == 1.0)
def TestRotationModification(self):
"""Test translation modification."""
frame = vctFrm3()
rotation = frame.Rotation()
rotation[0, 0] = 0.0
rotation[0, 1] = -1.0
rotation[1, 0] = 1.0
rotation[1, 1] = 0.0
rotationOtherRef = frame.Rotation()
rotationsAreEqual = (rotation == rotationOtherRef).all()
self.failUnless(rotationsAreEqual)
self.failUnless(numpy.linalg.det(rotation) == 1.0)
#from copy import * """ get the path of the kinematics .rob file """ pathTest = os.path.abspath(os.path.dirname(__file__)) filePath = pathTest + '/dvpsm.rob' print filePath """ Generate an instance of the robManipulator class """ """ Load the robot kinematics file by passing the .rob path""" psm_manip = robManipulator() result = psm_manip.LoadRobot(filePath); #print result """ cisstVector test """ """ generate an empty transformation, initialize the rotation and translation """ frame = vctFrm3() inverseFrame = vctFrm3() rotation = frame.Rotation() rotation[0, 0] = 1.0 rotation[1, 1] = 1.0 rotation[2, 2] = 1.0 translation = frame.Translation() translation[0] = 2.0 translation[1] = 1.0 translation[2] = 3.0 """ set the print options of np type matrices and arrays """ np.set_printoptions(precision=4,suppress=True)
