more tests

jhavl · jhavl · commit 020b8cecfe12 · 2022-10-25T10:50:07.000+10:00
diff --git a/tests/test_BaseRobot.py b/tests/test_BaseRobot.py
@@ -268,3 +268,54 @@ def test_manuf(self):
         panda = rtb.models.ETS.Panda()
 
         self.assertIsInstance(panda.manufacturer, str)
+
+    # def test_yoshi(self):
+    #     puma = rtb.models.Puma560()
+    #     q = puma.qn
+
+    #     m1 = puma.manipulability(q)
+    #     m2 = puma.manipulability(np.c_[q, q].T)
+    #     m3 = puma.manipulability(q, axes="trans")
+    #     m4 = puma.manipulability(q, axes="rot")
+
+    #     a0 = 0.0786
+    #     a2 = 0.111181
+    #     a3 = 2.44949
+
+    #     nt.assert_almost_equal(m1, a0, decimal=4)
+    #     nt.assert_almost_equal(m2[0], a0, decimal=4)
+    #     nt.assert_almost_equal(m2[1], a0, decimal=4)
+    #     nt.assert_almost_equal(m3, a2, decimal=4)
+    #     nt.assert_almost_equal(m4, a3, decimal=4)
+
+    #     with self.assertRaises(ValueError):
+    #         puma.manipulability(axes="abcdef")  # type: ignore
+
+    # def test_asada(self):
+    #     puma = rtb.models.Puma560()
+    #     q = puma.qn
+
+    #     m1 = puma.manipulability(q, method="asada")
+    #     m2 = puma.manipulability(np.c_[q, q].T, method="asada")
+    #     m3 = puma.manipulability(q, axes="trans", method="asada")
+    #     m4 = puma.manipulability(q, axes="rot", method="asada")
+    #     m5 = puma.manipulability(puma.qz, method="asada")
+
+    #     a0 = 0.0044
+    #     a2 = 0.2094
+    #     a3 = 0.1716
+    #     a4 = 0.0
+
+    #     nt.assert_almost_equal(m1, a0, decimal=4)
+    #     nt.assert_almost_equal(m2[0], a0, decimal=4)
+    #     nt.assert_almost_equal(m2[1], a0, decimal=4)
+    #     nt.assert_almost_equal(m3, a2, decimal=4)
+    #     nt.assert_almost_equal(m4, a3, decimal=4)
+    #     nt.assert_almost_equal(m5, a4, decimal=4)
+
+    def test_manipulability_fail(self):
+        puma = rtb.models.Puma560()
+        puma.q = puma.qr
+
+        with self.assertRaises(ValueError):
+            puma.manipulability(method="notamethod")  # type: ignore
