def test_make_topic_strings_quaterion(self):
strings = ez_model.make_topic_strings(geo_msgs.Quaternion(),
'/pose/orientation')
self.assertEqual(len(strings), 4)
strings = ez_model.make_topic_strings(geo_msgs.Quaternion(),
'/pose/orientation',
modules=[quaternion_module.QuaternionModule()])
self.assertEqual(len(strings), 1)
self.assertEqual(strings[0], '/pose/orientation')
def test_make_topic_strings(self):
strings = ez_model.make_topic_strings(geo_msgs.Twist(), '/cmd_vel')
self.assertEqual(len(strings), 6)
self.assertTrue('/cmd_vel/linear/x' in strings)
self.assertTrue('/cmd_vel/linear/y' in strings)
self.assertTrue('/cmd_vel/linear/z' in strings)
self.assertTrue('/cmd_vel/angular/x' in strings)
self.assertTrue('/cmd_vel/angular/y' in strings)
self.assertTrue('/cmd_vel/angular/z' in strings)
def test_make_topic_strings_with_header(self):
strings = ez_model.make_topic_strings(geo_msgs.PointStamped(),
'/cmd_vel')
self.assertEqual(len(strings), 7)
self.assertTrue('/cmd_vel/header/seq' in strings)
self.assertTrue('/cmd_vel/header/stamp/secs' in strings)
self.assertTrue('/cmd_vel/header/stamp/nsecs' in strings)
self.assertTrue('/cmd_vel/header/frame_id' in strings)
self.assertTrue('/cmd_vel/point/x' in strings)
self.assertTrue('/cmd_vel/point/y' in strings)
self.assertTrue('/cmd_vel/point/z' in strings)
def test_make_topic_strings_with_array_builtin(self):
strings = ez_model.make_topic_strings(sen_msgs.JointState(),
'/joint_states')
self.assertEqual(len(strings), 8)
self.assertEqual('/joint_states/name[0]' in strings, True)
self.assertEqual('/joint_states/position[0]' in strings, True)
def test_make_topic_strings_with_array_non_builtin(self):
strings = ez_model.make_topic_strings(geo_msgs.Polygon(), '/polygon')
self.assertEqual(len(strings), 3)
self.assertEqual(strings[0], '/polygon/points[0]/x')
self.assertEqual(strings[1], '/polygon/points[0]/y')
self.assertEqual(strings[2], '/polygon/points[0]/z')