def test_import_polulu(self):
# Get data, with a specified input from a POLULU system
inFile = r'data\data_polulu.txt'
data = imus.import_data(inFile, type='polulu', paramList=['rate', 'acc', 'omega', 'mag'])
rate = data[0]
acc = data[1]
omega = data[2]
self.assertAlmostEqual((rate - 125), 0)
self.assertAlmostEqual( (acc[0,1] + 0.004575), 0)
def test_import_yei(self):
# Get data, with a specified input from a YEI system
inFile = r'data\data_yei.txt'
data = imus.import_data(inFile, type='yei', paramList=['rate', 'acc', 'omega', 'mag'])
rate = data[0]
acc = data[1]
omega = data[2]
self.assertAlmostEqual((rate - 109.99508526563774), 0)
self.assertAlmostEqual( (omega[0,2] - 0.0081446301192045212), 0)
def test_import_xio(self):
# Get data, with a specified input from an XIO system
inFile = r'data\data_xio\00033_CalInertialAndMag.csv'
data = imus.import_data(inFile, type='xio', paramList=['rate', 'acc', 'omega', 'mag'])
rate = data[0]
acc = data[1]
omega = data[2]
self.assertAlmostEqual((rate - 256), 0)
self.assertAlmostEqual( (omega[0,2] -10.125), 0)
def test_import_xsens(self):
# Get data, with a specified input from an XSens system
inFile = r'data\data_xsens.txt'
data = imus.import_data(inFile, type='XSens', paramList=['rate', 'acc', 'omega'])
rate = data[0]
acc = data[1]
omega = data[2]
self.assertEqual(rate, 50.)
self.assertAlmostEqual( (omega[0,2] - 0.050860000000000002), 0)
def test_import_polulu(self):
# Get data, with a specified input from a POLULU system
inFile = r'data\data_polulu.txt'
data = imus.import_data(inFile,
type='polulu',
paramList=['rate', 'acc', 'omega', 'mag'])
rate = data[0]
acc = data[1]
omega = data[2]
self.assertAlmostEqual((rate - 125), 0)
self.assertAlmostEqual((acc[0, 1] + 0.004575), 0)
def test_import_yei(self):
# Get data, with a specified input from a YEI system
inFile = r'data\data_yei.txt'
data = imus.import_data(inFile,
type='yei',
paramList=['rate', 'acc', 'omega', 'mag'])
rate = data[0]
acc = data[1]
omega = data[2]
self.assertAlmostEqual((rate - 109.99508526563774), 0)
self.assertAlmostEqual((omega[0, 2] - 0.0081446301192045212), 0)
def test_import_xio(self):
# Get data, with a specified input from an XIO system
inFile = r'data\data_xio\00033_CalInertialAndMag.csv'
data = imus.import_data(inFile,
type='xio',
paramList=['rate', 'acc', 'omega', 'mag'])
rate = data[0]
acc = data[1]
omega = data[2]
self.assertAlmostEqual((rate - 256), 0)
self.assertAlmostEqual((omega[0, 2] - 10.125), 0)
def test_import_xsens(self):
# Get data, with a specified input from an XSens system
inFile = r'data\data_xsens.txt'
data = imus.import_data(inFile,
type='XSens',
paramList=['rate', 'acc', 'omega'])
rate = data[0]
acc = data[1]
omega = data[2]
self.assertEqual(rate, 50.)
self.assertAlmostEqual((omega[0, 2] - 0.050860000000000002), 0)
def test_calc_QPos(self):
# Get data
inFile = r'data\data_xsens.txt'
data = imus.import_data(inFile, type='XSens', paramList=['rate', 'acc', 'omega', 'mag'])
rate = data[0]
acc = data[2]
omega = data[3]
initialPosition = array([0,0,0])
R_initialOrientation = rotmat.R1(90)
q1, pos1 = imus.calc_QPos(R_initialOrientation, omega, initialPosition, acc, rate)
plt.plot(q1)
plt.show()
def test_calc_QPos(self):
# Get data
inFile = r'data\data_xsens.txt'
data = imus.import_data(inFile,
type='XSens',
paramList=['rate', 'acc', 'omega', 'mag'])
rate = data[0]
acc = data[2]
omega = data[3]
initialPosition = array([0, 0, 0])
R_initialOrientation = rotmat.R1(90)
q1, pos1 = imus.calc_QPos(R_initialOrientation, omega, initialPosition,
acc, rate)
plt.plot(q1)
plt.show()
def test_import_empty(self):
# Get data, with an empty input
data = imus.import_data()
def test_import_empty(self):
# Get data, with an empty input
data = imus.import_data()