base Package
armature_testing Module
This script tests the KUKA LWR arm, both the data and service api
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class ArmatureTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
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checkstate(simu, angles, precision=0.025)[source]
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setUpEnv()[source]
Defines the test scenario, using the Builder API.
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test_immediate_api()[source]
Tests the services that have an immediate result
(no speed limit taken into account)
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test_motion_services()[source]
Tests the services that have take some time to move
(joint speed limit taken into account)
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test_object_attach()[source]
Checks that attached object are indeed attached at the right place.
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test_trajectory()[source]
base_testing Module
This script tests some of the base functionalities of MORSE.
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class BaseTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
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setUpEnv()[source]
Defines the test scenario, using the Builder API.
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test_list_robots()[source]
Tests the simulator can return the list of robots
This test is guaranteed to be started only when the simulator
is ready.
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test_socket_request_parser_resilience()[source]
Tests that the socket request parser is resilient to
useless whitespaces.
battery_testing Module
This script tests the ‘data stream’ oriented feature of the socket interface.
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class BatteryTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
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setUpEnv()[source]
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test_read_battery()[source]
Test if we can connect to the pose data stream, and read from it.
builder_wheeled_robot Module
This script tests some of the base functionalities of MORSE.
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class BuilderWheeledRobotTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
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setUpEnv()[source]
Defines the test scenario, using the Builder API.
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test_correct_position()[source]
Tests the simulator can return the list of robots
This test is guaranteed to be started only when the simulator
is ready.
communication_service_testing Module
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class Communication_Service_Testing(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
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setUpEnv()[source]
Defines the test scenario, using the Builder API.
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test_semantic_camera()[source]
This test is guaranteed to be started only when the simulator
is ready.
gripper_testing Module
This script tests the KUKA LWR arm, both the data and service api
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class gripperTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
Defines the test scenario, using the Builder API.
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test_gripper()[source]
This test is guaranteed to be started only when the simulator
is ready.
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send_pose(s, x, y, yaw)[source]
gyroscope_testing Module
This script tests the ‘data stream’ oriented feature of the socket interface.
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class GyroTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
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setUpEnv()[source]
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test_read_gyro()[source]
Test if we can connect to the pose data stream, and read from it.
odometry_testing Module
This script tests some of the base functionalities of MORSE.
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class OdometryTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
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clear_datas(x, y, yaw)[source]
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odometry_test_helper(v, w, t)[source]
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record_datas(record)[source]
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setUpEnv()[source]
Defines the test scenario, using the Builder API.
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test_odometry()[source]
This test is guaranteed to be started only when the simulator
is ready.
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verify(expected_x, expected_y, expected_yaw)[source]
orientation_testing Module
This script tests the ‘data stream’ oriented feature of the socket interface.
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class OrientationTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
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setUpEnv()[source]
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test_orientation()[source]
Test if we can connect to the pose data stream, and read from it.
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send_angles(s, yaw, pitch, roll)[source]
pose_noise_testing Module
This script tests the several Noise modifiers
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class NoiseTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
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setUpEnv()[source]
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test_noised_gps()[source]
Test if the GPS data is noised
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test_noised_gyro()[source]
Test if the Gyroscope data is noised
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test_noised_odometry()[source]
Test if the odometry data is noised
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test_noised_pose()[source]
Test if the Pose data is noised
pose_testing Module
This script tests the ‘data stream’ oriented feature of the socket interface.
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class PoseTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
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setUpEnv()[source]
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test_base_service_connection()[source]
Simply tests if the simulator is reachable by its socket interface.
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test_get_pose_streams_service()[source]
Tests if we can retrieve the list of published data streams.
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test_read_pose()[source]
Test if we can connect to the pose data stream, and read from it.
ptu_testing Module
This script tests the ‘data stream’ oriented feature of the socket interface.
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class PTUTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
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setUpEnv()[source]
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test_datastream()[source]
Test if we can connect to the pose data stream, and read from it.
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test_lookat()[source]
Test if the PTU can successfully orient itself towards an
absolute x,y,z position and towards a given object.
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test_set_service()[source]
Test if we can connect to the pose data stream, and read from it.
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send_angles(s, pan, tilt)[source]
renaming_testing Module
This script tests some of the base functionalities of MORSE.
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class RenamingTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
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setUpEnv()[source]
Defines the test scenario, using the Builder API.
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test_renaming()[source]
Tests the simulator can return the list of robots
This test is guaranteed to be started only when the simulator
is ready.
rotorcraft_waypoint_testing Module
This script tests the waypoints actuator, both the data and service api
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class RotorcraftWaypoints_Test(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
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setUpEnv()[source]
Defines the test scenario, using the Builder API.
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test_waypoint_controller()[source]
This test is guaranteed to be started only when the simulator
is ready.
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test_waypoint_service_controller()[source]
semantic_camera_testing Module
This script tests the SICK laser range sensor in MORSE.
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class Semantic_Camera_Test(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
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setUpEnv()[source]
Defines the test scenario, using the Builder API.
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test_semantic_camera()[source]
This test is guaranteed to be started only when the simulator
is ready.
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send_dest(s, x, y, yaw)[source]
sick_testing Module
This script tests the SICK laser range sensor in MORSE.
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class Sick_Test(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
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setUpEnv()[source]
Defines the test scenario, using the Builder API.
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test_sick()[source]
This test is guaranteed to be started only when the simulator
is ready.
teleport_testing Module
This script tests the ‘data stream’ oriented feature of the socket interface.
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class TeleportTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
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setUpEnv()[source]
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test_teleport()[source]
Test if we can connect to the pose data stream, and read from it.
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send_pose(s, x, y, z, yaw, pitch, roll)[source]
utm_testing Module
This script tests the ‘data stream’ oriented feature of the socket interface.
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class UTMModifierTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
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setUpEnv()[source]
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test_read_gps()[source]
Test if we can connect to the pose data stream, and read from it.
velocity_testing Module
This script tests some of the base functionalities of MORSE.
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class Velocity_Test(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
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expect_value(linear_velocity, angular_velocity, world_linear_velocity)[source]
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setUpEnv()[source]
Defines the test scenario, using the Builder API.
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test_vw_controller()[source]
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send_speed(s, v, w)[source]
video_camera_testing Module
This script tests the ‘data stream’ oriented feature of the socket interface.
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class CameraTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
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assertAnglesAlmostEqual(a, b, delta=0.0)[source]
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assert_image_file_diff_less(filepath, image8u, delta)[source]
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assert_images_diff_greater(imageA, imageB, delta)[source]
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assert_images_diff_less(imageA, imageB, delta)[source]
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assert_orientation(gyroscope_stream, yaw, pitch, roll, precision)[source]
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setUpEnv()[source]
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test_camera()[source]
Test if we can connect to the pose data stream, and read from it.
- The test has been constructed in the following way
- put the robot in a specific position and takes an
image
- using an editor image, look for the rgb value of some
specific zone, and setup some threshold
- retrieve the threshold in the scene and tests it is
mostly invariant
- It will allow to detect that :
- the camera is broken and don’t have a real image
- blender has changed the way they transmit the image
- blender changes the orientation of their image
- possibly other bugs
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are_angles_almost_equal(a, b, delta)[source]
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capture8u(cam_stream, image_path=None)[source]
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diff_image(imageA, imageB, debug=None)[source]
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flush_camera(camera_stream, timeout)[source]
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load_image(filepath, size)[source]
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normalize_radians(angle)[source]
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read_pgm_ascii(filepath)[source]
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rgb2gray8u(image_rgb_data)[source]
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rotate_robot_and_wait(orientation_stream, gyroscope_stream, yaw, timeout, precision)[source]
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save_image(filepath, image8u)[source]
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save_pgm_ascii(filepath, image8u, width, height)[source]
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send_angles(orientation_stream, yaw, pitch, roll)[source]
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wait_yaw(gyroscope_stream, timeout, yaw, precision)[source]
waypoint_testing Module
This script tests the waypoints actuator, both the data and service api
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class Waypoints_Test(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
Defines the test scenario, using the Builder API.
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test_waypoint_datastream()[source]
This test is guaranteed to be started only when the simulator
is ready.
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test_waypoint_services()[source]