def test_SetGetAngularSpeedVector_fails():
kine = Kinematic()
with pytest.raises(TypeError):
kine.w = 1
with pytest.raises(TypeError):
kine.w = None
with pytest.raises(ValueError):
kine.w = (1, 0, 0, 0)
def test_SetGetLinearAcceleration_fails():
kine = Kinematic()
with pytest.raises(TypeError):
kine.w = 1
with pytest.raises(TypeError):
kine.w = None
with pytest.raises(ValueError):
kine.w = (1, 0, 0, 0)
def test_SetGetAngularSpeedVector_random():
kine = Kinematic()
Ntests = 100
for i in range(Ntests):
new_speed = np.random.rand(3)
kine.w = new_speed
np.testing.assert_almost_equal(new_speed, kine.w)
def test_SetGetLinearAcceleration_standard():
kine = Kinematic()
kine.w = (0, 0, 5)
def test_SetGetLinearSpeed_standard():
kine = Kinematic()
kine.w = (0, 0, 5)
def test_SetGetAngularSpeedVector_standard():
kine = Kinematic()
kine.w = (0, 0, 3)
def test_SetGetAngularPositionVector_standard():
kine = Kinematic()
kine.w = (0, 0, 5)