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#! /usr/bin/env python
"""
This script tests the several Noise modifiers
"""
from morse.testing.testing import MorseTestCase
try:
# Include this import to be able to use your test file as a regular
# builder script, ie, usable with: 'morse [run|exec] <your test>.py
from morse.builder import *
except ImportError:
pass
import os
import sys
from pymorse import Morse
class NoiseTest(MorseTestCase):
def setUpEnv(self):
robot = ATRV()
imu = IMU()
robot.append(imu)
imu_noised = IMU()
imu_noised.alter('Noise', gyro_std=1, accel_std=1)
robot.append(imu_noised)
robot.add_default_interface('socket')
env = Environment('empty', fastmode = True)
env.add_interface('socket')
env.properties(longitude = 43.6, latitude = 1.4333, altitude = 135.0)
def test_noised_imu(self):
""" Test if the IMU data is noised
"""
with Morse() as morse:
d = morse.robot.imu.get()
dn = morse.robot.imu_noised.get()
for i in ['angular_velocity', 'linear_acceleration']:
for j in range(0,3):
self.assertNotAlmostEqual(d[i][j], dn[i][j], delta=.001)
########################## Run these tests ##########################
if __name__ == "__main__":
from morse.testing.testing import main
main(NoiseTest)
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