def test_synchro_se2_trajectory_command(): goal_x = 1.0 goal_y = 2.0 goal_heading = 3.0 frame = ODOM_FRAME_NAME position = geometry_pb2.Vec2(x=goal_x, y=goal_y) goal_se2 = geometry_pb2.SE2Pose(position=position, angle=goal_heading) command = RobotCommandBuilder.synchro_se2_trajectory_command(goal_se2, frame) _check_se2_traj_command(command, goal_x, goal_y, goal_heading, frame, 1) # with a build_on_command arm_command = RobotCommandBuilder.arm_stow_command() command = RobotCommandBuilder.synchro_se2_trajectory_command(goal_se2, frame, build_on_command=arm_command) _check_se2_traj_command(command, goal_x, goal_y, goal_heading, frame, 1) _test_has_arm(command.synchronized_command)
def test_synchro_se2_trajectory_command(): goal_x = 1.0 goal_y = 2.0 goal_heading = 3.0 frame = ODOM_FRAME_NAME position = geometry_pb2.Vec2(x=goal_x, y=goal_y) goal_se2 = geometry_pb2.SE2Pose(position=position, angle=goal_heading) command = RobotCommandBuilder.synchro_se2_trajectory_command( goal_se2, frame) _check_se2_traj_command(command, goal_x, goal_y, goal_heading, frame, 1)