class TestPositionEncoder:
def setup_method(self, method):
self.encoder = PositionEncoder()
def test_simpleJoint_simple(self):
position = JointPosition([10,10,10,10,10,10])
line = self.encoder.encode(position)
assert line == "move(10,10,10,10,10,10)"
def test_simpleJoint_speedFactor(self):
position = JointPosition([10,10,10,10,10,10,1])
line = self.encoder.encode(position)
assert line == "move(10,10,10,10,10,10,1)"
def test_deltaJoint_simple(self):
position = DeltaJointPosition([10,10,10,10,10,10])
line = self.encoder.encode(position)
assert line == "moveBy(10,10,10,10,10,10)"
def test_deltaJoint_speedFactor(self):
position = DeltaJointPosition([10,10,10,10,10,10,1])
line = self.encoder.encode(position)
assert line == "moveBy(10,10,10,10,10,10,1)", "Wrong delta joint encoding with speed factor"
def teardown_method(self, method):
del self.encoder
def setup_method(self, method):
self.encoder = PositionEncoder()