def setUp(self):
self.geom = ArmKinematics((104.4, 104.4, 99.0))
class IKCase(unittest.TestCase):
def setUp(self):
self.geom = ArmKinematics((104.4, 104.4, 99.0))
def test_01(self):
alpha, beta, gamma, delta = self.geom.ik(
x=0,
y=0,
z=self.geom.l1 + self.geom.l2 + self.geom.l3,
pitch=0
)
self.assertEqual(alpha, 0)
self.assertEqual(beta, 0)
self.assertAlmostEqual(gamma, math.pi, 4)
self.assertAlmostEqual(delta, math.pi, 4)
def test_02(self):
alpha, beta, gamma, delta = self.geom.ik(
x=0,
y=self.geom.l1 + self.geom.l2 + self.geom.l3,
z=0,
pitch=math.pi / 2
)
self.assertEqual(alpha, 0)
self.assertEqual(beta, math.pi / 2)
self.assertAlmostEqual(gamma, math.pi, 4)
self.assertAlmostEqual(delta, math.pi, 4)
def test_03(self):
alpha, beta, gamma, delta = self.geom.ik(
x=0,
y=(self.geom.l1 + self.geom.l2 + self.geom.l3) * math.sin(math.pi / 4),
z=(self.geom.l1 + self.geom.l2 + self.geom.l3) * math.cos(math.pi / 4),
pitch=math.pi / 4
)
self.assertEqual(alpha, 0)
self.assertAlmostEqual(beta, math.pi / 4, 4)
self.assertAlmostEqual(gamma, math.pi, 4)
self.assertAlmostEqual(delta, math.pi, 4)
def test_04(self):
alpha, beta, gamma, delta = self.geom.ik(
x=0,
y=0,
z=self.geom.l1 * math.cos(math.pi / 4) + self.geom.l2 * math.cos(math.pi / 4) + self.geom.l3,
pitch=0
)
self.assertEqual(alpha, 0)
self.assertAlmostEqual(beta, math.pi / 4, 4)
self.assertAlmostEqual(gamma, math.pi / 2, 4)
self.assertAlmostEqual(delta, math.pi * 5 / 4, 4)
def test_05(self):
alpha, beta, gamma, delta = self.geom.ik(
x=0,
y=-self.geom.l3,
z=self.geom.l1 * math.cos(math.pi / 4) + self.geom.l2 * math.cos(math.pi / 4),
pitch=-math.pi / 2
)
self.assertEqual(alpha, 0)
self.assertAlmostEqual(beta, math.pi / 4, 4)
self.assertAlmostEqual(gamma, math.pi / 2, 4)
self.assertAlmostEqual(delta, math.pi * 3 / 4, 4)
def test_06_out_of_reach(self):
with self.assertRaises(ValueError):
self.geom.ik(
x=0,
y=0,
z=self.geom.l1 + self.geom.l2 + self.geom.l3 + 10,
pitch=0
)