def test_mimic_calculate_position():
multiplier = 5.0
offset = 100.
j1 = Joint('j1', 'prismatic', None, None, axis=Axis('1 0 0'))
j1.position = 200
mimic = Mimic(j1, multiplier=multiplier, offset=offset)
result = mimic.calculate_position(j1.position)
assert result == multiplier * j1.position + offset
def test_prismatic_calculate_transformation():
limit = Limit(lower=0, upper=1000)
j1 = Joint('j1', 'prismatic', None, None, axis=Axis('1 0 0'), limit=limit)
t = j1.calculate_transformation(550)
assert t == Translation([550, 0, 0])