[Pyode-commits] pyode/tests test_xode.py,1.4,1.5

[Timothy S. <pe...@us...>]

Update of /cvsroot/pyode/pyode/tests
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv19119/tests

Modified Files:
	test_xode.py 
Log Message:
Added remaining joint types to the XODE parser.


Index: test_xode.py
===================================================================
RCS file: /cvsroot/pyode/pyode/tests/test_xode.py,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** test_xode.py	9 Aug 2004 13:16:48 -0000	1.4
--- test_xode.py	6 Sep 2004 05:56:55 -0000	1.5
***************
*** 69,73 ****
          <ball/>
        </joint>
!       
      </space>
    </world>
--- 69,73 ----
          <ball/>
        </joint>
! 
      </space>
    </world>
***************
*** 146,149 ****
--- 146,219 ----
        
      </geom>
+ 
+     <joint name="joint4">
+       <link1 body="body4"/>
+       <link2 body="body6"/>
+       <fixed/>
+     </joint>
+ 
+     <joint name="joint5">
+       <link1 body="body4"/>
+       <link2 body="body6"/>
+       <hinge>
+         <axis x="1.0" y="0.0" z="0.0"/>
+       </hinge>
+     </joint>
+ 
+     <joint name="joint6">
+       <link1 body="body4"/>
+       <link2 body="body6"/>
+       <slider>
+         <axis x="0.0" y="1.0" z="0.0"
+               LowStop="1.0"
+               HiStop="2.0"
+               Vel="3.0"
+               FMax="4.0"
+               FudgeFactor="0.5"
+               Bounce="6.0"
+               CFM="7.0"
+               StopERP="8.0"
+               StopCFM="9.0" />
+       </slider>
+     </joint>
+ 
+     <joint name="joint7">
+       <link1 body="body4"/>
+       <link2 body="body6"/>
+       <universal>
+         <axis x="1.0" y="0.0" z="0.0"/>
+         <axis x="0.0" y="1.0" z="0.0"/>
+       </universal>
+     </joint>
+ 
+     <joint name="joint8">
+       <link1 body="body4"/>
+       <link2 body="body6"/>
+       <hinge2>
+         <axis x="0.0" y="0.0" z="1.0"
+               SuspensionERP="2.0"
+               SuspensionCFM="3.0" />
+         <axis x="0.0" y="1.0" z="0.0"
+               FudgeFactor="0.2" />
+       </hinge2>
+     </joint>
+ 
+     <joint name="joint9">
+       <link1 body="body4"/>
+       <link2 body="body6"/>
+       <amotor>
+         <axis x="0.0" y="1.0" z="0.0"/>
+       </amotor>
+     </joint>
+ 
+     <joint name="joint10">
+       <link1 body="body4"/>
+       <link2 body="body6"/>
+       <amotor>
+         <axis x="1.0" y="0.0" z="0.0"/>
+         <axis x="0.0" y="1.0" z="0.0"/>
+         <axis x="0.0" y="0.0" z="1.0"/>
+       </amotor>
+     </joint>
      
      </space>
***************
*** 388,393 ****
          self.joint2 = self.root.namedChild('joint2').getODEObject()
          self.joint3 = self.root.namedChild('joint3').getODEObject()
  
!     def testInstance(self):
          self.assert_(isinstance(self.joint1, ode.BallJoint))
  
--- 458,470 ----
          self.joint2 = self.root.namedChild('joint2').getODEObject()
          self.joint3 = self.root.namedChild('joint3').getODEObject()
+         self.joint4 = self.root.namedChild('joint4').getODEObject()
+         self.joint5 = self.root.namedChild('joint5').getODEObject()
+         self.joint6 = self.root.namedChild('joint6').getODEObject()
+         self.joint7 = self.root.namedChild('joint7').getODEObject()
+         self.joint8 = self.root.namedChild('joint8').getODEObject()
+         self.joint9 = self.root.namedChild('joint9').getODEObject()
+         self.joint10 = self.root.namedChild('joint10').getODEObject()
  
!     def testBallInstance(self):
          self.assert_(isinstance(self.joint1, ode.BallJoint))
  
***************
*** 409,412 ****
--- 486,594 ----
              self.assert_(feq(n1, n2))
  
+     def testFixedInstance(self):
+         self.assert_(isinstance(self.joint4, ode.FixedJoint))
+ 
+     def testHingeInstance(self):
+         self.assert_(isinstance(self.joint5, ode.HingeJoint))
+ 
+     def testHingeAxis(self):
+         self.assertEqual(self.joint5.getAxis(), (1.0, 0.0, 0.0))
+ 
+     def testSliderInstance(self):
+         self.assert_(isinstance(self.joint6, ode.SliderJoint))
+ 
+     def testSliderAxis(self):
+         self.assertEqual(self.joint6.getAxis(), (0.0, 1.0, 0.0))
+ 
+     def testUniversalInstance(self):
+         self.assert_(isinstance(self.joint7, ode.UniversalJoint))
+ 
+     def testUniversalAxis1(self):
+         ref = (1.0, 0.0, 0.0)
+         axis1 = self.joint7.getAxis1()
+ 
+         for r, a in zip(ref, axis1):
+             self.assert_(feq(r, a))
+ 
+     def testUniversalAxis2(self):
+         ref = (0.0, 1.0, 0.0)
+         axis2 = self.joint7.getAxis2()
+ 
+         for r, a in zip(ref, axis2):
+             self.assert_(feq(r, a))
+ 
+     def testHinge2Instance(self):
+         self.assert_(isinstance(self.joint8, ode.Hinge2Joint))
+ 
+     def testHinge2Axis1(self):
+         ref = (0.0, 0.0, 1.0)
+         axis1 = self.joint8.getAxis1()
+ 
+         for r, a in zip(ref, axis1):
+             self.assert_(feq(r, a))
+ 
+     def testHinge2Axis2(self):
+         ref = (0.0, 1.0, 0.0)
+         axis2 = self.joint8.getAxis2()
+ 
+         for r, a in zip(ref, axis2):
+             self.assert_(feq(r, a))
+ 
+     def testAMotorInstance(self):
+         self.assert_(isinstance(self.joint9, ode.AMotor))
+ 
+     def testAMotorNumAxes1(self):
+         self.assertEqual(self.joint9.getNumAxes(), 1)
+ 
+     def testAMotorNumAxes3(self):
+         self.assertEqual(self.joint10.getNumAxes(), 3)
+ 
+     def testAMotorAxes1(self):
+         ref = (0.0, 1.0, 0.0)
+         axis1 = self.joint9.getAxis(0)
+         self.assertEqual(ref, axis1)
+ 
+     def testAMotorAxes3(self):
+         ref = [(1.0, 0.0, 0.0), (0.0, 1.0, 0.0), (0.0, 0.0, 1.0)]
+         axes = [self.joint10.getAxis(0), self.joint10.getAxis(1),
+                 self.joint10.getAxis(2)]
+         self.assertEqual(ref, axes)
+ 
+     def testAxisParamLoStop(self):
+         self.assertEqual(self.joint6.getParam(ode.paramLoStop), 1.0)
+ 
+     def testAxisParamHiStop(self):
+         self.assertEqual(self.joint6.getParam(ode.paramHiStop), 2.0)
+ 
+     def testAxisParamVel(self):
+         self.assertEqual(self.joint6.getParam(ode.paramVel), 3.0)
+ 
+     def testAxisParamFMax(self):
+         self.assertEqual(self.joint6.getParam(ode.paramFMax), 4.0)
+ 
+     def testAxisParamFudgeFactor(self):
+         self.assertEqual(self.joint6.getParam(ode.paramFudgeFactor), 0.5)
+ 
+     def testAxisParamBounce(self):
+         self.assertEqual(self.joint6.getParam(ode.paramBounce), 6.0)
+ 
+     def testAxisParamCFM(self):
+         self.assertEqual(self.joint6.getParam(ode.paramCFM), 7.0)
+ 
+     def testAxisParamStopERP(self):
+         self.assertEqual(self.joint6.getParam(ode.paramStopERP), 8.0)
+ 
+     def testAxisParamStopCFM(self):
+         self.assertEqual(self.joint6.getParam(ode.paramStopCFM), 9.0)
+ 
+     def testAxisParamSuspensionERP(self):
+         self.assertEqual(self.joint8.getParam(ode.paramSuspensionERP), 2.0)
+ 
+     def testAxisParamSuspensionCFM(self):
+         self.assertEqual(self.joint8.getParam(ode.paramSuspensionCFM), 3.0)
+ 
+     def testAxis2FudgeFactor(self):
+         self.assertEqual(self.joint8.getParam(ode.ParamFudgeFactor2), 0.2)
+ 
  class TestGeomParser(TestParser):
      def setUp(self):
***************
*** 725,728 ****
--- 907,941 ----
          self.assertRaises(errors.InvalidError, self.p.parseString, doc)
  
+     def testSliderAxes(self):
+         doc = '''<?xml version="1.0" encoding="iso-8859-1"?>
+         <xode><world><space name="space1">
+           <body name="body1"/>
+           <body name="body2"/>
+           <joint>
+             <link1 body="body1"/>
+             <link2 body="body2"/>
+             <slider>
+             </slider>
+           </joint>
+         </space></world></xode>'''
+ 
+         self.assertRaises(errors.InvalidError, self.p.parseString, doc)
+ 
+     def testInvalidParam(self):
+         doc = '''<?xml version="1.0" encoding="iso-8859-1"?>
+         <xode><world><space name="space1">
+           <body name="body1"/>
+           <body name="body2"/>
+           <joint>
+             <link1 body="body1"/>
+             <link2 body="body2"/>
+             <hinge>
+               <axis x="1.0" y="0.0" z="0.0" TestCFM="99.0"/>
+             </hinge>
+           </joint>
+         </space></world></xode>'''
+ 
+         self.assertRaises(errors.InvalidError, self.p.parseString, doc)
+ 
  class TestInvalidGeom(TestInvalid):
      def testNoType(self):