コード例 #1
0
def test_steward_gough_platform():
    """Test for steward-gough platform"""
    N = 14
    f = ("u", "p", "s") * 6
    f = [dof_of_joint(j) for j in f]
    dof = gruebler3(N, f)
    assert dof == 6
コード例 #2
0
def test_other():
    """Other test."""
    f = ('r', 'p', 'u', 's')
    f = [dof_of_joint(j) for j in f]
    N = 4
    dof = gruebler3(N, f)
    assert dof == 1
コード例 #3
0
def test_delta_robot():
    """Test for the delta robot"""
    N = 17
    f = ("r", "r", "r", "s", "s", "s", "s") * 3
    f = [dof_of_joint(j) for j in f]
    dof = gruebler3(N, f)
    assert dof == 15
コード例 #4
0
def test_watt_six_bar_linkage():
    """Test Watts mechanism."""
    f = ('r', ) * 7
    f = [dof_of_joint(j) for j in f]
    N = 6
    dof = gruebler2(N, f)
    assert dof == 1
コード例 #5
0
def test_stephenson_six_bar_linkage():
    """Test Stephensons mechnism."""
    f = ('r', ) * 7
    f = [dof_of_joint(j) for j in f]
    N = 6
    dof = gruebler2(N, f)
    assert dof == 1
コード例 #6
0
def test_five_bar_linkage():
    """5-bar linkage."""
    f = ('r', ) * 5
    f = [dof_of_joint(j) for j in f]
    N = 5
    dof = gruebler2(N, f)
    assert dof == 2
コード例 #7
0
def test_kr_robot():
    """4-R robot."""
    f = ('r', ) * 4
    f = [dof_of_joint(j) for j in f]
    N = 5
    dof = gruebler2(N, f)
    assert dof == 4
コード例 #8
0
def test_unknown_joint_type():
    with pytest.raises(UnknownJointTypeException):
        dof_of_joint("x")