def setUp(self):
# parameter values
th1 = var('th1')
l1 = var('L1')
self.gamma = 0
self.b = 0
self.alpha = 0
self.d = l1
self.theta = th1
self.r = 0
self.t_val = Matrix([
[cos(th1), -sin(th1), 0, l1],
[sin(th1), cos(th1), 0, 0],
[0, 0, 1, 0],
[0, 0, 0, 1]
])
self.rot_val = Matrix([
[cos(th1), -sin(th1), 0],
[sin(th1), cos(th1), 0],
[0, 0, 1]
])
self.trans_val = Matrix([l1, 0, 0])
self.t_inv = Matrix([
[cos(th1), sin(th1), 0, -l1*cos(th1)],
[-sin(th1), cos(th1), 0, l1*sin(th1)],
[0, 0, 1, 0],
[0, 0, 0, 1]
])
self.inv_rot = Matrix([
[cos(th1), sin(th1), 0],
[-sin(th1), cos(th1), 0],
[0, 0, 1]
])
self.inv_trans = Matrix([-l1*cos(th1), l1*sin(th1), 0])
self.sji = Screw6(
tl=self.rot_val, tr=tools.skew(self.trans_val),
bl=zeros(3, 3), br=self.rot_val
).val
self.sij = Screw6(
tl=self.inv_rot,
tr=-(self.inv_rot * tools.skew(self.trans_val)),
bl=zeros(3, 3), br=self.inv_rot
).val
# params dict
self.params = {
'gamma': self.gamma,
'b': self.b,
'alpha': self.alpha,
'd': self.d,
'theta': self.theta,
'r': self.r
}
self.sigmu_param = {'sigma': 2, 'mu': 0}
self.wrong_param = {'rand': 'some-value'}
# frames
self.frame_i = 5
self.frame_j = 6
# setup instances for use
self.t_empty = TransformationMatrix(i=0, j=0)
self.t_data = TransformationMatrix(
i=self.frame_i, j=self.frame_j, params=self.params
)
class TestTransformationMatrix(unittest.TestCase):
"""Unit test for TransformationMatrix class."""
def setUp(self):
# parameter values
th1 = var('th1')
l1 = var('L1')
self.gamma = 0
self.b = 0
self.alpha = 0
self.d = l1
self.theta = th1
self.r = 0
self.t_val = Matrix([
[cos(th1), -sin(th1), 0, l1],
[sin(th1), cos(th1), 0, 0],
[0, 0, 1, 0],
[0, 0, 0, 1]
])
self.rot_val = Matrix([
[cos(th1), -sin(th1), 0],
[sin(th1), cos(th1), 0],
[0, 0, 1]
])
self.trans_val = Matrix([l1, 0, 0])
self.t_inv = Matrix([
[cos(th1), sin(th1), 0, -l1*cos(th1)],
[-sin(th1), cos(th1), 0, l1*sin(th1)],
[0, 0, 1, 0],
[0, 0, 0, 1]
])
self.inv_rot = Matrix([
[cos(th1), sin(th1), 0],
[-sin(th1), cos(th1), 0],
[0, 0, 1]
])
self.inv_trans = Matrix([-l1*cos(th1), l1*sin(th1), 0])
self.sji = Screw6(
tl=self.rot_val, tr=tools.skew(self.trans_val),
bl=zeros(3, 3), br=self.rot_val
).val
self.sij = Screw6(
tl=self.inv_rot,
tr=-(self.inv_rot * tools.skew(self.trans_val)),
bl=zeros(3, 3), br=self.inv_rot
).val
# params dict
self.params = {
'gamma': self.gamma,
'b': self.b,
'alpha': self.alpha,
'd': self.d,
'theta': self.theta,
'r': self.r
}
self.sigmu_param = {'sigma': 2, 'mu': 0}
self.wrong_param = {'rand': 'some-value'}
# frames
self.frame_i = 5
self.frame_j = 6
# setup instances for use
self.t_empty = TransformationMatrix(i=0, j=0)
self.t_data = TransformationMatrix(
i=self.frame_i, j=self.frame_j, params=self.params
)
def test_init(self):
"""Test contructor"""
params = self.params
# test raise NotImplementedError
self.assertRaises(NotImplementedError, TransformationMatrix)
# test raise AttributeError
self.assertRaises(
AttributeError, TransformationMatrix, params=params
)
# test different forms of the constructor
self.assertIsInstance(
TransformationMatrix(i=0, j=0), TransformationMatrix
)
self.assertIsInstance(
TransformationMatrix(i=0, j=0, params=params),
TransformationMatrix
)
params['frame'] = 1
params['ant'] = 0
self.assertIsInstance(
TransformationMatrix(params=params), TransformationMatrix
)
def test_val(self):
"""Test get of val()"""
self.assertEqual(self.t_empty.val, eye(4))
self.assertEqual(self.t_data.val, self.t_val)
def test_rot(self):
"""Test get of rot()"""
self.assertEqual(self.t_empty.rot, eye(3))
self.assertEqual(self.t_data.rot, self.rot_val)
def test_trans(self):
"""Test get of trans()"""
self.assertEqual(self.t_empty.trans, zeros(3, 1))
self.assertEqual(self.t_data.trans, self.trans_val)
def test_inv(self):
"""Test get of inv()"""
self.assertEqual(self.t_empty.inv, eye(4))
self.assertEqual(self.t_data.inv, self.t_inv)
def test_inv_rot(self):
"""Test get of inv_rot()"""
self.assertEqual(self.t_empty.inv_rot, eye(3))
self.assertEqual(self.t_data.inv_rot, self.inv_rot)
def test_inv_trans(self):
"""Test get of inv_trans()"""
self.assertEqual(self.t_empty.inv_trans, zeros(3, 1))
self.assertEqual(self.t_data.inv_trans, self.inv_trans)
def test_s_j_wrt_i(self):
"""Test get of s_j_wrt_i()"""
self.assertEqual(self.t_empty.s_j_wrt_i, eye(6))
self.assertEqual(self.t_data.s_j_wrt_i, self.sji)
def test_s_i_wrt_j(self):
"""Test get of s_i_wrt_j()"""
self.assertEqual(self.t_empty.s_i_wrt_j, eye(6))
self.assertEqual(self.t_data.s_i_wrt_j, self.sij)
def test_update(self):
"""Test update()"""
# test raise AttributeError
self.assertRaises(
AttributeError, self.t_empty.update, self.wrong_param
)
# test sigma, mu
self.t_empty.update(self.sigmu_param)
self.assertEqual(self.t_empty.val, eye(4))
# test with correct params
self.t_empty.update(self.params)
self.assertEqual(self.t_empty.val, self.t_val)
