class TestJoint(unittest.TestCase):
def setUp(self):
self.world = World([])
states = [0]
dampings = [15, 15]
self.world.add_joint(Joint(states, dampings, [0, 180], 10e-3))
def test_movement(self):
self.world.joints[0].vel = 10.
for i in range(10):
old_vel = self.world.joints[0].vel
old_q = self.world.joints[0].q
self.world.step(.1)
self.assertLess(self.world.joints[0].vel, old_vel)
self.assertGreater(self.world.joints[0].q, old_q)
def test_locking(self):
self.world.joints[0].lock()
self.assertTrue(self.world.joints[0].is_locked())
self.world.joints[0].unlock()
self.assertFalse(self.world.joints[0].is_locked())
def setUp(self):
self.world = World([])
open_at = np.random.randint(180)
self.open_d = (max(open_at - 10, 0),
max(open_at + 10, 180))
# The 'handle'
states = [self.open_d[0], self.open_d[1]]
dampings = [15, 200, 15]
self.world.add_joint(Joint(states, dampings, [0, 180], 10e-3))
# The 'window'
states = [0]
dampings = [15, 15]
self.world.add_joint(Joint(states, dampings, [0, 180], 10e-3))
self.locker = MultiLocker(self.world, locker=self.world.joints[0],
locked=self.world.joints[1],
locks=[(0, self.open_d[0]),
(self.open_d[1], 180)])
class TestMultiLocker(unittest.TestCase):
def setUp(self):
self.world = World([])
open_at = np.random.randint(180)
self.open_d = (max(open_at - 10, 0),
max(open_at + 10, 180))
# The 'handle'
states = [self.open_d[0], self.open_d[1]]
dampings = [15, 200, 15]
self.world.add_joint(Joint(states, dampings, [0, 180], 10e-3))
# The 'window'
states = [0]
dampings = [15, 15]
self.world.add_joint(Joint(states, dampings, [0, 180], 10e-3))
self.locker = MultiLocker(self.world, locker=self.world.joints[0],
locked=self.world.joints[1],
locks=[(0, self.open_d[0]),
(self.open_d[1], 180)])
def test_locker_locks(self):
self.world.joints[0].q = 0
self.world.step(.1)
self.assertTrue(self.world.joints[1].locked)
self.world.joints[0].q = 0 + self.open_d[0]/2
self.world.step(.1)
self.assertTrue(self.world.joints[1].locked)
self.world.joints[0].q = self.open_d[0]
self.world.step(.1)
self.assertTrue(self.world.joints[1].locked)
self.world.joints[0].q = self.open_d[0] + 1
self.world.step(.1)
self.assertFalse(self.world.joints[1].locked)
self.world.joints[0].q = self.open_d[1] - 1
self.world.step(.1)
self.assertFalse(self.world.joints[1].locked)
self.world.joints[0].q = (self.open_d[1] + self.open_d[0])/2
self.world.step(.1)
self.assertFalse(self.world.joints[1].locked)
self.world.joints[0].q = self.open_d[1] + 1
self.world.step(.1)
self.assertTrue(self.world.joints[1].locked)
self.world.joints[0].q = (self.open_d[1] + 180)/2
self.world.step(.1)
self.assertTrue(self.world.joints[1].locked)
self.world.joints[0].q = 180
self.world.step(.1)
self.assertTrue(self.world.joints[1].locked)
def setUp(self):
self.world = World([])
states = [0]
dampings = [15, 15]
self.world.add_joint(Joint(states, dampings, [0, 180], 10e-3))
