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Copy pathtest_twist.py
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executable file
·368 lines (268 loc) · 10.4 KB
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import numpy.testing as nt
import matplotlib.pyplot as plt
import unittest
"""
we will assume that the primitives rotx,trotx, etc. all work
"""
from math import pi
from spatialmath.twist import *
# from spatialmath import super_pose # as sp
from spatialmath.base import *
from spatialmath.base import argcheck
from spatialmath.baseposematrix import BasePoseMatrix
from spatialmath.twist import BaseTwist
def array_compare(x, y):
if isinstance(x, BasePoseMatrix):
x = x.A
if isinstance(y, BasePoseMatrix):
y = y.A
if isinstance(x, BaseTwist):
x = x.S
if isinstance(y, BaseTwist):
y = y.S
nt.assert_array_almost_equal(x, y)
class Twist3dTest(unittest.TestCase):
def test_constructor(self):
s = [1, 2, 3, 4, 5, 6]
x = Twist3(s)
self.assertIsInstance(x, Twist3)
self.assertEqual(len(x), 1)
array_compare(x.v, [1, 2, 3])
array_compare(x.w, [4, 5, 6])
array_compare(x.S, s)
x = Twist3([1,2,3], [4,5,6])
array_compare(x.v, [1, 2, 3])
array_compare(x.w, [4, 5, 6])
array_compare(x.S, s)
y = Twist3(x)
array_compare(x, y)
x = Twist3(SE3())
array_compare(x, [0,0,0,0,0,0])
def test_list(self):
x = Twist3([1, 0, 0, 0, 0, 0])
y = Twist3([1, 0, 0, 0, 0, 0])
a = Twist3(x)
a.append(y)
self.assertEqual(len(a), 2)
array_compare(a[0], x)
array_compare(a[1], y)
def test_conversion_SE3(self):
T = SE3.Rx(0)
tw = Twist3(T)
array_compare(tw.SE3(), T)
self.assertIsInstance(tw.SE3(), SE3)
self.assertEqual(len(tw.SE3()), 1)
T = SE3.Rx(0) * SE3(1, 2, 3)
array_compare(Twist3(T).SE3(), T)
def test_conversion_se3(self):
s = [1, 2, 3, 4, 5, 6]
x = Twist3(s)
array_compare(x.se3(), np.array([[ 0., -6., 5., 1.],
[ 6., 0., -4., 2.],
[-5., 4., 0., 3.],
[ 0., 0., 0., 0.]]))
def test_conversion_Plucker(self):
pass
def test_list_constuctor(self):
x = Twist3([1, 0, 0, 0, 0, 0])
a = Twist3([x,x,x,x])
self.assertIsInstance(a, Twist3)
self.assertEqual(len(a), 4)
a = Twist3([x.se3(), x.se3(), x.se3(), x.se3()])
self.assertIsInstance(a, Twist3)
self.assertEqual(len(a), 4)
a = Twist3([x.S, x.S, x.S, x.S])
self.assertIsInstance(a, Twist3)
self.assertEqual(len(a), 4)
s = np.r_[1, 2, 3, 4, 5, 6]
a = Twist3([s, s, s, s])
self.assertIsInstance(a, Twist3)
self.assertEqual(len(a), 4)
def test_predicate(self):
x = Twist3.UnitRevolute([1, 2, 3], [0, 0, 0])
self.assertFalse(x.isprismatic)
# check prismatic twist
x = Twist3.UnitPrismatic([1, 2, 3])
self.assertTrue(x.isprismatic)
self.assertTrue(Twist3.isvalid(x.se3()))
self.assertTrue(Twist3.isvalid(x.S))
self.assertFalse(Twist3.isvalid(2))
self.assertFalse(Twist3.isvalid(np.eye(4)))
def test_str(self):
x = Twist3([1, 2, 3, 4, 5, 6])
s = str(x)
self.assertIsInstance(s, str)
self.assertEqual(len(s), 14)
self.assertEqual(s.count('\n'), 0)
x.append(x)
s = str(x)
self.assertIsInstance(s, str)
self.assertEqual(len(s), 29)
self.assertEqual(s.count('\n'), 1)
def test_variant_constructors(self):
# check rotational twist
x = Twist3.UnitRevolute([1, 2, 3], [0, 0, 0])
array_compare(x, np.r_[0, 0, 0, unitvec([1, 2, 3])])
# check prismatic twist
x = Twist3.UnitPrismatic([1, 2, 3])
array_compare(x, np.r_[unitvec([1, 2, 3]), 0, 0, 0, ])
def test_SE3_twists(self):
tw = Twist3( SE3.Rx(0) )
array_compare(tw, np.r_[0, 0, 0, 0, 0, 0])
tw = Twist3( SE3.Rx(pi / 2) )
array_compare(tw, np.r_[0, 0, 0, pi / 2, 0, 0])
tw = Twist3( SE3.Ry(pi / 2) )
array_compare(tw, np.r_[0, 0, 0, 0, pi / 2, 0])
tw = Twist3( SE3.Rz(pi / 2) )
array_compare(tw, np.r_[0, 0, 0, 0, 0, pi / 2])
tw = Twist3( SE3([1, 2, 3]) )
array_compare(tw, [1, 2, 3, 0, 0, 0])
tw = Twist3( SE3([1, 2, 3]) * SE3.Ry(pi / 2))
array_compare(tw, np.r_[-pi / 2, 2, pi, 0, pi / 2, 0])
def test_exp(self):
tw = Twist3.UnitRevolute([1, 0, 0], [0, 0, 0])
array_compare(tw.exp(pi/2), SE3.Rx(pi/2))
tw = Twist3.UnitRevolute([0, 1, 0], [0, 0, 0])
array_compare(tw.exp(pi/2), SE3.Ry(pi/2))
tw = Twist3.UnitRevolute([0, 0, 1], [0, 0, 0])
array_compare(tw.exp(pi/2), SE3.Rz(pi / 2))
def test_arith(self):
# check overloaded *
T1 = SE3(1, 2, 3) * SE3.Rx(pi / 2)
T2 = SE3(4, 5, -6) * SE3.Ry(-pi / 2)
x1 = Twist3(T1)
x2 = Twist3(T2)
array_compare( (x1 * x2).exp(), T1 * T2)
array_compare( (x2 * x1).exp(), T2 * T1)
def test_prod(self):
# check prod
T1 = SE3(1, 2, 3) * SE3.Rx(pi / 2)
T2 = SE3(4, 5, -6) * SE3.Ry(-pi / 2)
x1 = Twist3(T1)
x2 = Twist3(T2)
x = Twist3([x1, x2])
array_compare( x.prod().SE3(), T1 * T2)
class Twist2dTest(unittest.TestCase):
def test_constructor(self):
s = [1, 2, 3]
x = Twist2(s)
self.assertIsInstance(x, Twist2)
self.assertEqual(len(x), 1)
array_compare(x.v, [1, 2])
array_compare(x.w, [3])
array_compare(x.S, s)
x = Twist2([1,2], 3)
array_compare(x.v, [1, 2])
array_compare(x.w, [3])
array_compare(x.S, s)
y = Twist2(x)
array_compare(x, y)
# construct from SE2
x = Twist2(SE2())
array_compare(x, [0,0,0])
x = Twist2( SE2(0, 0, pi / 2))
array_compare(x, np.r_[0, 0, pi / 2])
x = Twist2( SE2(1, 2,0 ))
array_compare(x, np.r_[1, 2, 0])
x = Twist2( SE2(1, 2, pi / 2))
array_compare(x, np.r_[3 * pi / 4, pi / 4, pi / 2])
def test_list(self):
x = Twist2([1, 0, 0])
y = Twist2([1, 0, 0])
a = Twist2(x)
a.append(y)
self.assertEqual(len(a), 2)
array_compare(a[0], x)
array_compare(a[1], y)
def test_variant_constructors(self):
# check rotational twist
x = Twist2.UnitRevolute([1, 2])
array_compare(x, np.r_[2, -1, 1])
# check prismatic twist
x = Twist2.UnitPrismatic([1, 2])
array_compare(x, np.r_[unitvec([1, 2]), 0])
def test_conversion_SE2(self):
T = SE2(1, 2, 0.3)
tw = Twist2(T)
array_compare(tw.SE2(), T)
self.assertIsInstance(tw.SE2(), SE2)
self.assertEqual(len(tw.SE2()), 1)
def test_conversion_se2(self):
s = [1, 2, 3]
x = Twist2(s)
array_compare(x.se2(), np.array([[ 0., -3., 1.],
[ 3., 0., 2.],
[ 0., 0., 0.]]))
def test_list_constuctor(self):
x = Twist2([1, 0, 0])
a = Twist2([x,x,x,x])
self.assertIsInstance(a, Twist2)
self.assertEqual(len(a), 4)
a = Twist2([x.se2(), x.se2(), x.se2(), x.se2()])
self.assertIsInstance(a, Twist2)
self.assertEqual(len(a), 4)
a = Twist2([x.S, x.S, x.S, x.S])
self.assertIsInstance(a, Twist2)
self.assertEqual(len(a), 4)
s = np.r_[1, 2, 3]
a = Twist2([s, s, s, s])
self.assertIsInstance(a, Twist2)
self.assertEqual(len(a), 4)
def test_predicate(self):
x = Twist2.UnitRevolute([1, 2])
self.assertFalse(x.isprismatic)
# check prismatic twist
x = Twist2.UnitPrismatic([1, 2])
self.assertTrue(x.isprismatic)
self.assertTrue(Twist2.isvalid(x.se2()))
self.assertTrue(Twist2.isvalid(x.S))
self.assertFalse(Twist2.isvalid(2))
self.assertFalse(Twist2.isvalid(np.eye(3)))
def test_str(self):
x = Twist2([1, 2, 3])
s = str(x)
self.assertIsInstance(s, str)
self.assertEqual(len(s), 8)
self.assertEqual(s.count('\n'), 0)
x.append(x)
s = str(x)
self.assertIsInstance(s, str)
self.assertEqual(len(s), 17)
self.assertEqual(s.count('\n'), 1)
def test_SE2_twists(self):
tw = Twist2( SE2() )
array_compare(tw, np.r_[0, 0, 0])
tw = Twist2( SE2(0, 0, pi / 2) )
array_compare(tw, np.r_[0, 0, pi / 2])
tw = Twist2( SE2([1, 2, 0]) )
array_compare(tw, [1, 2, 0])
tw = Twist2( SE2([1, 2, pi / 2]))
array_compare(tw, np.r_[ 3 * pi / 4, pi / 4, pi / 2])
def test_exp(self):
x = Twist2.UnitRevolute([0, 0])
array_compare(x.exp(pi/2), SE2(0, 0, pi/2))
x = Twist2.UnitRevolute([1, 0])
array_compare(x.exp(pi/2), SE2(1, -1, pi/2))
x = Twist2.UnitRevolute([1, 2])
array_compare(x.exp(pi/2), SE2(3, 1, pi/2))
def test_arith(self):
# check overloaded *
T1 = SE2(1, 2, pi / 2)
T2 = SE2(4, 5, -pi / 4)
x1 = Twist2(T1)
x2 = Twist2(T2)
array_compare( (x1 * x2).exp(), (T1 * T2).A)
array_compare( (x2 * x1).exp(), (T2 * T1).A)
array_compare( (x1 * x2).SE2(), (T1 * T2).A)
array_compare( (x2 * x1).SE2(), (T2 * T1))
def test_prod(self):
# check prod
T1 = SE2(1, 2, pi / 2)
T2 = SE2(4, 5, -pi / 4)
x1 = Twist2(T1)
x2 = Twist2(T2)
x = Twist2([x1, x2])
array_compare( x.prod().SE2(), T1 * T2)
# ---------------------------------------------------------------------------------------#
if __name__ == '__main__':
unittest.main()