base package
base.armature_testing module
This script tests the KUKA LWR arm, both the data and service api
-
class ArmatureTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
Defines the test scenario, using the Builder API.
-
test_ik_immediate()[source]
-
test_ik_motion()[source]
-
test_immediate_api()[source]
Tests the services that have an immediate result
(no speed limit taken into account)
-
test_joints_names()[source]
-
test_motion_services()[source]
Tests the services that have take some time to move
(joint speed limit taken into account)
-
test_object_attach()[source]
Checks that attached object are indeed attached at the right place.
-
test_trajectory()[source]
base.attitude_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class AttitudeTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
send_angles(yaw, pitch, roll)[source]
-
setUpEnv()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_attitude()[source]
Test if we can connect to the pose data stream, and read from it.
base.barometer_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class BarometerTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_read_barometer()[source]
Test if we can connect to the pose data stream, and read from it.
-
send_pose(s, x, y, z)[source]
base.base_testing module
This script tests some of the base functionalities of MORSE.
-
class BaseTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
Defines the test scenario, using the Builder API.
-
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.
-
test_socket_request_parser_resilience()[source]
Tests that the socket request parser is resilient to
useless whitespaces.
base.battery_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class BatteryTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_read_battery()[source]
Test if we can connect to the pose data stream, and read from it.
-
send_pose(s, x, y)[source]
base.builder_wheeled_robot module
This script tests some of the base functionalities of MORSE.
-
class BuilderWheeledRobotTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
Defines the test scenario, using the Builder API.
-
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.
base.communication_service_testing module
-
class Communication_Service_Testing(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
Defines the test scenario, using the Builder API.
-
test_semantic_camera()[source]
This test is guaranteed to be started only when the simulator
is ready.
base.destination_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class DestinationTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test()[source]
-
send_goal(s, x, y, z)[source]
base.drag_testing module
This script tests some of the base functionalities of MORSE.
-
class DragTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
Defines the test scenario, using the Builder API.
-
test_drag()[source]
The idea between the test is to verify that a robot against
the wind is going slower than another one, using the same force.
The acceleration stay positive in both case.
-
send_force_x(actuator, fx)[source]
base.ecef_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class ECEFModifierTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_ecef_modifier()[source]
Test if we can connect to the pose data stream, and read from it.
base.external_force_testing module
This script tests some of the base functionalities of MORSE.
-
class ExternalForceTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
Defines the test scenario, using the Builder API.
-
test_external_force()[source]
The idea between the test is to verify that a robot against
the wind is going slower than another one, using the same force.
The acceleration stay positive in both case.
-
send_force_x(actuator, fx)[source]
base.feet_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class FeetModifierTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_feet_modifier()[source]
Test if we can connect to the pose data stream, and read from it.
base.geodetic_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class GeodeticModifierTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_geodetic_modifier()[source]
Test if we can connect to the pose data stream, and read from it.
base.gps_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class GPSTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_read_gps()[source]
Test if we can connect to the pose data stream, and read from it.
base.gripper_testing module
This script tests the KUKA LWR arm, both the data and service api
-
class gripperTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
Defines the test scenario, using the Builder API.
-
test_gripper()[source]
This test is guaranteed to be started only when the simulator
is ready.
-
send_pose(s, morse, x, y, yaw)[source]
base.gyroscope_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class GyroTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_read_gyro()[source]
Test if we can connect to the pose data stream, and read from it.
base.imu_noise_testing module
This script tests the several Noise modifiers
-
class NoiseTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_noised_imu()[source]
Test if the IMU data is noised
base.infrared_testing module
This script tests the Infrared range sensor in MORSE.
-
class InfraredTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
Defines the test scenario.
-
test_infrared()[source]
This test is guaranteed to be started only when the simulator
is ready.
base.light_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class LightTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_light()[source]
base.magnetometer_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class MagnemoterTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_geodetic_modifier()[source]
Test if we can connect to the pose data stream, and read from it.
base.multiple_ptu_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class MultiplePTUTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
Non regression test for #536
PTU related component are really tested in ptu_testing.py
-
setUpEnv()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_datastream()[source]
Test if we can connect to the pose data stream, and read from it.
-
send_angles(s, pan, tilt)[source]
base.ned_testing module
This script tests the NED modifier.
-
class NedTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_ned_pose()[source]
Test if the NED conversion is correctly done
base.odometry_testing module
This script tests some of the base functionalities of MORSE.
-
class OdometryTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
clear_datas(x, y, yaw)[source]
-
odometry_test_helper(morse, v, w, t)[source]
-
record_datas(record)[source]
-
setUpEnv()[source]
Defines the test scenario, using the Builder API.
-
test_odometry()[source]
This test is guaranteed to be started only when the simulator
is ready.
-
verify(expected_x, expected_y, expected_yaw)[source]
base.orientation_speed_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class OrientationTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_orientation()[source]
Test if we can connect to the pose data stream, and read from it.
-
send_angles(s, yaw, pitch, roll)[source]
base.orientation_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class OrientationTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_orientation()[source]
Test if we can connect to the pose data stream, and read from it.
-
send_angles(s, yaw, pitch, roll)[source]
base.pose_noise_testing module
This script tests the several Noise modifiers
-
class NoiseTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_noised_gps()[source]
Test if the GPS data is noised
-
test_noised_gyro()[source]
Test if the Gyroscope data is noised
-
test_noised_odometry()[source]
Test if the odometry data is noised
-
test_noised_pose()[source]
Test if the Pose data is noised
base.pose_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class PoseTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_base_service_connection()[source]
Simply tests if the simulator is reachable by its socket interface.
-
test_get_pose_streams_service()[source]
Tests if we can retrieve the list of published data streams.
-
test_read_pose()[source]
Test if we can connect to the pose data stream, and read from it.
base.ptu_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class PTUTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_datastream()[source]
Test if we can connect to the pose data stream, and read from it.
-
test_lookat()[source]
Test if the PTU can successfully orient itself towards an
absolute x,y,z position and towards a given object.
-
test_set_service()[source]
Test if we can connect to the pose data stream, and read from it.
-
send_angles(s, pan, tilt)[source]
base.radar_altimeter_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class RadarAltimeterTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_teleport()[source]
Test if we can connect to the pose data stream, and read from it.
base.renaming_testing module
This script tests some of the base functionalities of MORSE.
-
class RenamingTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
Defines the test scenario, using the Builder API.
-
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.
base.rotorcraft_waypoint_testing module
This script tests the waypoints actuator, both the data and service api
-
class RotorcraftWaypoints_Test(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
Defines the test scenario, using the Builder API.
-
test_waypoint_controller()[source]
This test is guaranteed to be started only when the simulator
is ready.
-
test_waypoint_service_controller()[source]
base.search_and_rescue_testing module
-
class SearchAndRescueTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_victim_interface()[source]
-
send_dest(s, morse, x, y, yaw)[source]
base.semantic_camera_relative_testing module
This script tests the Semantic Camera sensor and its ‘relative’ property in MORSE.
-
class Semantic_Camera_Test(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
Defines the test scenario, using the Builder API.
-
test_semantic_camera()[source]
This test is guaranteed to be started only when the simulator
is ready.
-
send_dest(s, morse, x, y, yaw)[source]
base.semantic_camera_tag_testing module
This script tests the Semantic Camera sensor and its ‘tag’ property in MORSE.
-
class Semantic_Camera_Test(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
Defines the test scenario, using the Builder API.
-
test_semantic_camera()[source]
This test is guaranteed to be started only when the simulator
is ready.
-
send_dest(s, morse, x, y, yaw)[source]
base.semantic_camera_testing module
This script tests the Semantic Camera sensor in MORSE.
-
class Semantic_Camera_Test(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
Defines the test scenario, using the Builder API.
-
test_semantic_camera()[source]
This test is guaranteed to be started only when the simulator
is ready.
-
send_dest(s, morse, x, y, yaw)[source]
base.sick_testing module
This script tests the SICK laser range sensor in MORSE.
-
class Sick_Test(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
Defines the test scenario, using the Builder API.
-
test_sick()[source]
This test is guaranteed to be started only when the simulator
is ready.
base.socket_sync_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class SocketSyncTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_read_clock()[source]
base.stabilized_quadrirotor_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class StabilizedQuadrirotorTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_phi_c_control()[source]
-
test_psi_c_control()[source]
-
test_theta_c_control()[source]
-
send_ctrl(s, theta, phi, psi, h)[source]
base.steer_force_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class SteerForceTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test()[source]
-
send_force(s, steer, force, brake)[source]
base.teleport_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class TeleportTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_teleport()[source]
Test if we can connect to the pose data stream, and read from it.
-
send_pose(s, x, y, z, yaw, pitch, roll)[source]
base.thermometer_testing module
-
class ThermometerTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_temperature()[source]
-
send_dest(s, morse, x, y, yaw)[source]
base.time_scale_testing module
This script tests some of the base functionalities of MORSE.
-
class TimeScale_Test(methodName='runTest')[source]
Bases: morse.testing.testing.MorseMoveTestCase
-
count_value(value)[source]
-
send_speed(s, morse, v, w, t)[source]
Send the speed (v, w) to the robot controller during real-time t
seconds
Return the simulated time elapsed (in sec)
-
setUpEnv()[source]
Defines the test scenario, using the Builder API.
-
test_time_scale()[source]
base.utm_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class UTMModifierTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
test_read_gps()[source]
Test if we can connect to the pose data stream, and read from it.
base.video_camera_testing module
This script tests the ‘data stream’ oriented feature of the socket interface.
-
class CameraTest(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
assertAnglesAlmostEqual(a, b, delta=0.0)[source]
-
assert_image_file_diff_less(filepath, image8u, delta)[source]
-
assert_images_diff_greater(imageA, imageB, delta)[source]
-
assert_images_diff_less(imageA, imageB, delta)[source]
-
assert_orientation(gyroscope_stream, yaw, pitch, roll, precision)[source]
-
setUpEnv()[source]
This method must be overloaded by subclasses to define a
simulation environment.
The code must follow the Builder API
convention (without the import of the morsebuilder module which
is automatically added).
-
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
-
are_angles_almost_equal(a, b, delta)[source]
-
capture8u(cam_stream, image_path=None)[source]
-
diff_image(imageA, imageB, debug=None)[source]
-
flush_camera(camera_stream, morse, timeout)[source]
-
load_image(filepath, size)[source]
-
normalize_radians(angle)[source]
-
read_pgm_ascii(filepath)[source]
-
rgba2gray8u(image_rgba_base64)[source]
-
rotate_robot_and_wait(orientation_stream, gyroscope_stream, morse, yaw, timeout, precision)[source]
-
save_image(filepath, image8u)[source]
-
save_pgm_ascii(filepath, image8u, width, height)[source]
-
send_angles(orientation_stream, yaw, pitch, roll)[source]
-
wait_yaw(gyroscope_stream, morse, timeout, yaw, precision)[source]
base.waypoint_testing module
This script tests the waypoints actuator, both the data and service api
-
class Waypoints_Test(methodName='runTest')[source]
Bases: morse.testing.testing.MorseTestCase
-
setUpEnv()[source]
Defines the test scenario, using the Builder API.
-
test_waypoint_datastream()[source]
This test is guaranteed to be started only when the simulator
is ready.
-
test_waypoint_services()[source]