def test_PTL_negative_case():
#test negative angles
try:
bot5 = ptl.PTL(8, 5, 10)
except Exception as e:
print(e)
def test_PTL_short_link2_case():
#tst length 0 on link 2
try:
bot4 = ptl.PTL(8, 5, 0)
except Exception as e:
print(e)
def test_PTL_zero_case():
#test 0 case
try:
bot1 = ptl.PTL(0, 0, 0)
except Exception as e:
print(e)
def test_PTL_short_link1_case():
#test length 0 on link 1
try:
bot3 = ptl.PTL(8, 0, 10)
except Exception as e:
print(e)
def test_PTL_book_case():
#test book example if make is possible
try:
bot2 = ptl.PTL(8, 5, 10)
ang_list = bot2.IK(0, 4)
print(ang_list)
except Exception as e:
print(e)
def test_PTL_book_case_dos():
#test book example if motion is possible
try:
bot2 = ptl.PTL(8, 5, 10)
x = np.arange(-3, 3, 0.2)
y = 0.1 * x + 10
for i in range(1, 30):
ang_list = bot2.IK(x[i], y[i])
print(ang_list)
except Exception as e:
print(e)