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# Copyright (C) 2020 Matthijs van der Burgh <MatthijsBurgh at outlook dot com>
# Version: 1.0
# Author: Matthijs van der Burgh <MatthijsBurgh at outlook dot com>
# Maintainer: Ruben Smits <ruben dot smits at intermodalics dot eu>
# Maintainer: Matthijs van der Burgh <MatthijsBurgh at outlook dot com>
# URL: http://www.orocos.org/kdl
# This library is free software; you can redistribute it and/or
# modify it under the terms of the GNU Lesser General Public
# License as published by the Free Software Foundation; either
# version 2.1 of the License, or (at your option) any later version.
# This library is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
# Lesser General Public License for more details.
# You should have received a copy of the GNU Lesser General Public
# License along with this library; if not, write to the Free Software
# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
from PyKDL import *
import unittest
class DynamicsTestFunctions(unittest.TestCase):
def testJntSpaceInertiaMatrix(self):
ll = 3
jm = JntSpaceInertiaMatrix(3)
# __getitem__
for i in range(ll):
for j in range(ll):
self.assertEqual(jm[i, j], 0)
with self.assertRaises(IndexError):
_ = jm[-1, 0]
with self.assertRaises(IndexError):
_ = jm[3, 0]
with self.assertRaises(IndexError):
_ = jm[2, -1]
with self.assertRaises(IndexError):
_ = jm[2, 3]
# __setitem__
for i in range(ll):
for j in range(ll):
jm[i, j] = 3 * i + j
for i in range(ll):
for j in range(ll):
self.assertEqual(jm[i, j], 3 * i + j)
with self.assertRaises(IndexError):
jm[-1, 0] = 1
with self.assertRaises(IndexError):
jm[3, 0] = 1
with self.assertRaises(IndexError):
jm[2, -1] = 1
with self.assertRaises(IndexError):
jm[2, 3] = 1
def suite():
suite = unittest.TestSuite()
suite.addTest(DynamicsTestFunctions('testJntSpaceInertiaMatrix'))
return suite
if __name__ == '__main__':
import sys
suite = suite()
result = unittest.TextTestRunner(verbosity=3).run(suite)
if result.wasSuccessful():
sys.exit(0)
else:
sys.exit(1)
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