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test_spatialvector.py
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223 lines (176 loc) · 7.1 KB
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import unittest
import numpy.testing as nt
import numpy as np
from spatialmath.spatialvector import *
class TestSpatialVector(unittest.TestCase):
def test_list_powers(self):
x = SpatialVelocity.Empty()
self.assertEqual(len(x), 0)
x.append(SpatialVelocity([1, 2, 3, 4, 5, 6]))
self.assertEqual(len(x), 1)
x.append(SpatialVelocity([7, 8, 9, 10, 11, 12]))
self.assertEqual(len(x), 2)
y = x[0]
self.assertIsInstance(y, SpatialVelocity)
self.assertEqual(len(y), 1)
self.assertTrue(all(y.A == np.r_[1, 2, 3, 4, 5, 6]))
y = x[1]
self.assertIsInstance(y, SpatialVelocity)
self.assertEqual(len(y), 1)
self.assertTrue(all(y.A == np.r_[7, 8, 9, 10, 11, 12]))
x.insert(0, SpatialVelocity([20, 21, 22, 23, 24, 25]))
y = x[0]
self.assertIsInstance(y, SpatialVelocity)
self.assertEqual(len(y), 1)
self.assertTrue(all(y.A == np.r_[20, 21, 22, 23, 24, 25]))
y = x[1]
self.assertIsInstance(y, SpatialVelocity)
self.assertEqual(len(y), 1)
self.assertTrue(all(y.A == np.r_[1, 2, 3, 4, 5, 6]))
def test_velocity(self):
a = SpatialVelocity([1, 2, 3, 4, 5, 6])
self.assertIsInstance(a, SpatialVelocity)
self.assertIsInstance(a, SpatialVector)
self.assertIsInstance(a, SpatialM6)
self.assertEqual(len(a), 1)
self.assertTrue(all(a.A == np.r_[1, 2, 3, 4, 5, 6]))
a = SpatialVelocity(np.r_[1, 2, 3, 4, 5, 6])
self.assertIsInstance(a, SpatialVelocity)
self.assertIsInstance(a, SpatialVector)
self.assertIsInstance(a, SpatialM6)
self.assertEqual(len(a), 1)
self.assertTrue(all(a.A == np.r_[1, 2, 3, 4, 5, 6]))
s = str(a)
self.assertIsInstance(s, str)
self.assertEqual(s.count('\n'), 0)
self.assertTrue(s.startswith('SpatialVelocity'))
r = np.random.rand(6, 10)
a = SpatialVelocity(r)
self.assertIsInstance(a, SpatialVelocity)
self.assertIsInstance(a, SpatialVector)
self.assertIsInstance(a, SpatialM6)
self.assertEqual(len(a), 10)
b = a[3]
self.assertIsInstance(b, SpatialVelocity)
self.assertIsInstance(b, SpatialVector)
self.assertIsInstance(b, SpatialM6)
self.assertEqual(len(b), 1)
self.assertTrue(all(b.A == r[:,3]))
s = str(a)
self.assertIsInstance(s, str)
self.assertEqual(s.count('\n'), 9)
def test_acceleration(self):
a = SpatialAcceleration([1, 2, 3, 4, 5, 6])
self.assertIsInstance(a, SpatialAcceleration)
self.assertIsInstance(a, SpatialVector)
self.assertIsInstance(a, SpatialM6)
self.assertEqual(len(a), 1)
self.assertTrue(all(a.A == np.r_[1, 2, 3, 4, 5, 6]))
a = SpatialAcceleration(np.r_[1, 2, 3, 4, 5, 6])
self.assertIsInstance(a, SpatialAcceleration)
self.assertIsInstance(a, SpatialVector)
self.assertIsInstance(a, SpatialM6)
self.assertEqual(len(a), 1)
self.assertTrue(all(a.A == np.r_[1, 2, 3, 4, 5, 6]))
s = str(a)
self.assertIsInstance(s, str)
self.assertEqual(s.count('\n'), 0)
self.assertTrue(s.startswith('SpatialAcceleration'))
r = np.random.rand(6, 10)
a = SpatialAcceleration(r)
self.assertIsInstance(a, SpatialAcceleration)
self.assertIsInstance(a, SpatialVector)
self.assertIsInstance(a, SpatialM6)
self.assertEqual(len(a), 10)
b = a[3]
self.assertIsInstance(b, SpatialAcceleration)
self.assertIsInstance(b, SpatialVector)
self.assertIsInstance(b, SpatialM6)
self.assertEqual(len(b), 1)
self.assertTrue(all(b.A == r[:,3]))
s = str(a)
self.assertIsInstance(s, str)
def test_force(self):
a = SpatialForce([1, 2, 3, 4, 5, 6])
self.assertIsInstance(a, SpatialForce)
self.assertIsInstance(a, SpatialVector)
self.assertIsInstance(a, SpatialF6)
self.assertEqual(len(a), 1)
self.assertTrue(all(a.A == np.r_[1, 2, 3, 4, 5, 6]))
a = SpatialForce(np.r_[1, 2, 3, 4, 5, 6])
self.assertIsInstance(a, SpatialForce)
self.assertIsInstance(a, SpatialVector)
self.assertIsInstance(a, SpatialF6)
self.assertEqual(len(a), 1)
self.assertTrue(all(a.A == np.r_[1, 2, 3, 4, 5, 6]))
s = str(a)
self.assertIsInstance(s, str)
self.assertEqual(s.count('\n'), 0)
self.assertTrue(s.startswith('SpatialForce'))
r = np.random.rand(6, 10)
a = SpatialForce(r)
self.assertIsInstance(a, SpatialForce)
self.assertIsInstance(a, SpatialVector)
self.assertIsInstance(a, SpatialF6)
self.assertEqual(len(a), 10)
b = a[3]
self.assertIsInstance(b, SpatialForce)
self.assertIsInstance(b, SpatialVector)
self.assertIsInstance(b, SpatialF6)
self.assertEqual(len(b), 1)
self.assertTrue(all(b.A == r[:, 3]))
s = str(a)
self.assertIsInstance(s, str)
def test_momentum(self):
a = SpatialMomentum([1, 2, 3, 4, 5, 6])
self.assertIsInstance(a, SpatialMomentum)
self.assertIsInstance(a, SpatialVector)
self.assertIsInstance(a, SpatialF6)
self.assertEqual(len(a), 1)
self.assertTrue(all(a.A == np.r_[1, 2, 3, 4, 5, 6]))
a = SpatialMomentum(np.r_[1, 2, 3, 4, 5, 6])
self.assertIsInstance(a, SpatialMomentum)
self.assertIsInstance(a, SpatialVector)
self.assertIsInstance(a, SpatialF6)
self.assertEqual(len(a), 1)
self.assertTrue(all(a.A == np.r_[1, 2, 3, 4, 5, 6]))
s = str(a)
self.assertIsInstance(s, str)
self.assertEqual(s.count('\n'), 0)
self.assertTrue(s.startswith('SpatialMomentum'))
r = np.random.rand(6, 10)
a = SpatialMomentum(r)
self.assertIsInstance(a, SpatialMomentum)
self.assertIsInstance(a, SpatialVector)
self.assertIsInstance(a, SpatialF6)
self.assertEqual(len(a), 10)
b = a[3]
self.assertIsInstance(b, SpatialMomentum)
self.assertIsInstance(b, SpatialVector)
self.assertIsInstance(b, SpatialF6)
self.assertEqual(len(b), 1)
self.assertTrue(all(b.A == r[:, 3]))
s = str(a)
self.assertIsInstance(s, str)
def test_arith(self):
# just test SpatialVelocity since all types derive from same superclass
r1 = np.r_[1, 2, 3, 4, 5, 6]
r2 = np.r_[7, 8, 9, 10, 11, 12]
a1 = SpatialVelocity(r1)
a2 = SpatialVelocity(r2)
self.assertTrue(all((a1 + a2).A == r1 + r2))
self.assertTrue(all((a1 - a2).A == r1 - r2))
self.assertTrue(all((-a1).A == -r1))
def test_inertia(self):
# constructor
# addition
pass
def test_products(self):
# v x v = a *, v x F6 = a
# a x I, I x a
# v x I, I x v
# twist x v, twist x a, twist x F
pass
# ---------------------------------------------------------------------------------------#
if __name__ == '__main__':
unittest.main()