def test_above_outside_threshold(self): object_pose = Pose() object_pose.position.x = 0.0 object_pose.position.y = 0.0 object_pose.position.z = 5.0 object_pose.orientation.x = 0.0 object_pose.orientation.y = 0.0 object_pose.orientation.z = 0.0 object_pose.orientation.w = 1.0 reference_height = 2.0 threshold_distance = 3.0 result = height(object_pose, reference_height, threshold_distance) self.assertEquals(result, 1)
def test_below_outside_threshold_y_axis(self): object_pose = Pose() object_pose.position.x = 0.0 object_pose.position.y = 5.0 object_pose.position.z = 0.0 object_pose.orientation.x = 0.0 object_pose.orientation.y = 0.0 object_pose.orientation.z = 0.0 object_pose.orientation.w = 1.0 reference_height = -1.0 threshold_distance = 2.0 result = height(object_pose, reference_height, threshold_distance, axis='y') self.assertEquals(result, 1)
def test_above_within_threshold_y_axis(self): object_pose = Pose() object_pose.position.x = 0.0 object_pose.position.y = 3.0 object_pose.position.z = 0.0 object_pose.orientation.x = 0.0 object_pose.orientation.y = 0.0 object_pose.orientation.z = 0.0 object_pose.orientation.w = 1.0 reference_height = 1.0 threshold_distance = 4.0 result = height(object_pose, reference_height, threshold_distance, axis='y') self.assertEquals(result, 0)
def test_below_outside_threshold(self): object_pose = Pose() object_pose.position.x = 0.0 object_pose.position.y = 0.0 object_pose.position.z = -5.0 object_pose.orientation.x = 0.0 object_pose.orientation.y = 0.0 object_pose.orientation.z = 0.0 object_pose.orientation.w = 1.0 reference_height = -1.0 threshold_distance = 2.0 result = height(object_pose, reference_height, threshold_distance, direction="negative") self.assertEquals(result, 1)
def test_below_within_threshold_x_axis(self): object_pose = Pose() object_pose.position.x = -2.0 object_pose.position.y = 0.0 object_pose.position.z = 0.0 object_pose.orientation.x = 0.0 object_pose.orientation.y = 0.0 object_pose.orientation.z = 0.0 object_pose.orientation.w = 1.0 reference_height = -1.0 threshold_distance = 4.0 result = height(object_pose, reference_height, threshold_distance, direction="negative", axis='x') self.assertEquals(result, 0)