def test_interpolate_trajectories_unequal_limits(self):
different_limits = Limits(-2, 3, 2)
other_trajectory = JointTrajectory(self.joint_name, different_limits,
self.setpoints, self.duration)
with self.assertRaises(SubgaitInterpolationError):
JointTrajectory.interpolate_joint_trajectories(
self.joint_trajectory, other_trajectory, 0.5)
def setUp(self):
self.joint_name = "test_joint"
self.limits = Limits(-1, 1, 2)
self.duration = Duration(seconds=2.0)
self.times = [Duration(), self.duration / 2.0, self.duration]
self.setpoints = [
Setpoint(t, 2 * t.seconds, t.seconds / 2.0) for t in self.times
]
self.joint_trajectory = JointTrajectory(self.joint_name, self.limits,
self.setpoints, self.duration)
def setUp(self):
self.limits = Limits(0, 1, 2, 3, 4, 5)
def test_unequal_operator_5(self):
# fifth entry different
self.assertNotEqual(self.limits, Limits(0, 1, 2, 3, 5, 5))
def test_unequal_operator(self):
# sixth entry different
self.assertNotEqual(self.limits, Limits(0, 1, 2, 3, 4, 6))
def test_unequal_operator_4(self):
# fourth entry different
self.assertNotEqual(self.limits, Limits(0, 1, 2, 4, 4, 5))
def test_unequal_operator_3(self):
# third entry different
self.assertNotEqual(self.limits, Limits(0, 1, 3, 3, 4, 5))
def test_unequal_operator_2(self):
# second entry different
self.assertNotEqual(self.limits, Limits(0, 2, 2, 3, 4, 5))
def test_unequal_operator_1(self):
# first entry different
self.assertNotEqual(self.limits, Limits(1, 1, 2, 3, 4, 5))
def test_equal_operator(self):
self.assertEqual(self.limits, Limits(0, 1, 2, 3, 4, 5))