class TestPositioners(TestCase):
def setUp(self):
super(TestPositioners, self).setUp()
self.positioner = Positioner()
self.positioner.position = ORIGIN
self.positioner.orientation = ROT_ORIGIN
def test_position(self):
position = (1.0, 2.0, 3.0) * q.um
self.positioner.position = position
assert_almost_equal(position, self.positioner.position)
# Test non-existent axis
del self.positioner.translators['x']
with self.assertRaises(PositionerError):
self.positioner.set_position(position).join()
# The remaining axes must work
position = (0.0, 1.0, 2.0) * q.mm
self.positioner.position = position
assert_almost_equal(position[1:], self.positioner.position[1:])
# Also nan must work
position = (np.nan, 1.0, 2.0) * q.mm
self.positioner.position = position
assert_almost_equal(position, self.positioner.position)
# Also 0 in the place of no axis must work
self.positioner.position = (0.0, 1.0, 2.0) * q.mm
assert_almost_equal(position, self.positioner.position)
def test_orientation(self):
orientation = (1.0, 2.0, 3.0) * q.rad
self.positioner.orientation = orientation
assert_almost_equal(orientation, self.positioner.orientation)
# Degrees must be accepted
self.positioner.orientation = (2.0, 3.0, 4.0) * q.deg
# Test non-existent axis
del self.positioner.rotators['x']
with self.assertRaises(PositionerError):
self.positioner.set_orientation(orientation).join()
# Also nan must work
orientation = (np.nan, 1.0, 2.0) * q.rad
self.positioner.orientation = orientation
assert_almost_equal(orientation, self.positioner.orientation)
# Also 0 in the place of no axis must work
self.positioner.orientation = (0.0, 1.0, 2.0) * q.rad
assert_almost_equal(orientation, self.positioner.orientation)
def test_move(self):
position = (1.0, 2.0, 3.0) * q.mm
self.positioner.move(position).join()
assert_almost_equal(position, self.positioner.position)
def test_rotate(self):
orientation = (1.0, 2.0, 3.0) * q.rad
self.positioner.rotate(orientation).join()
assert_almost_equal(orientation, self.positioner.orientation)
def test_right(self):
self.positioner.right(1 * q.mm).join()
assert_almost_equal((1.0, 0.0, 0.0) * q.mm, self.positioner.position)
def test_left(self):
self.positioner.left(1 * q.mm).join()
assert_almost_equal((-1.0, 0.0, 0.0) * q.mm, self.positioner.position)
def test_up(self):
self.positioner.up(1 * q.mm).join()
assert_almost_equal((0.0, 1.0, 0.0) * q.mm, self.positioner.position)
def test_down(self):
self.positioner.down(1 * q.mm).join()
assert_almost_equal((0.0, -1.0, 0.0) * q.mm, self.positioner.position)
def test_forward(self):
self.positioner.forward(1 * q.mm).join()
assert_almost_equal((0.0, 0.0, 1.0) * q.mm, self.positioner.position)
def test_back(self):
self.positioner.back(1 * q.mm).join()
assert_almost_equal((0.0, 0.0, -1.0) * q.mm, self.positioner.position)
def setUp(self):
super(TestPositioners, self).setUp()
self.positioner = Positioner()
self.positioner.position = ORIGIN
self.positioner.orientation = ROT_ORIGIN
def setUp(self):
super(TestPositioners, self).setUp()
self.positioner = Positioner()
self.positioner.position = ORIGIN
self.positioner.orientation = ROT_ORIGIN