def test_deflate(self):
robot_params = RobotParams()
robot_params.configure(loadConfigDict())
p = loadParamVec()
robot_params.inflate(p)
result = robot_params.deflate()
self.assertAlmostEqual(numpy.linalg.norm(p - result), 0.0, 6)
def test_deflate(self):
robot_params = RobotParams()
robot_params.configure(loadConfigDict())
p = loadParamVec()
robot_params.inflate(p)
result = robot_params.deflate()
self.assertAlmostEqual(numpy.linalg.norm(p - result), 0.0, 6)
def test_inflate(self):
robot_params = RobotParams()
robot_params.configure(loadConfigDict())
robot_params.inflate(loadParamVec())
self.assertEqual(robot_params.dh_chains["chain1"]._config[0,0], -10)
self.assertEqual(robot_params.dh_chains["chain2"]._config[1,1], 10)
# self.assertEqual(robot_params.tilting_lasers["laserA"]._before_joint.transform[1,3], 20)
# self.assertEqual(robot_params.tilting_lasers["laserA"]._after_joint.transform[2,3], 30)
self.assertEqual(robot_params.transforms["transformA"].transform[0,3], 40)
self.assertEqual(robot_params.rectified_cams["camA"]._config['baseline_shift'], 4)
self.assertEqual(robot_params.checkerboards["boardA"]._spacing_x, 30)
def test_inflate(self):
robot_params = RobotParams()
robot_params.configure(loadConfigDict())
robot_params.inflate(loadParamVec())
self.assertEqual(robot_params.dh_chains["chain1"]._config[0, 0], -10)
self.assertEqual(robot_params.dh_chains["chain2"]._config[1, 1], 10)
# self.assertEqual(robot_params.tilting_lasers["laserA"]._before_joint.transform[1,3], 20)
# self.assertEqual(robot_params.tilting_lasers["laserA"]._after_joint.transform[2,3], 30)
self.assertEqual(robot_params.transforms["transformA"].transform[0, 3],
40)
self.assertEqual(
robot_params.rectified_cams["camA"]._config['baseline_shift'], 4)
self.assertEqual(robot_params.checkerboards["boardA"]._spacing_x, 30)
