How to use boom method in hypothesis

Best Python code snippet using hypothesis

helper_functions.py

Source:helper_functions.py

1#!/usr/bin/python2'''3Created on September 27, 20184@author: Ryan5'''6import math7import csv8L1 = 500 #mm9L2 = 383 #mm10boom_motor_pos_max = -5 # Max position of boom motor. To prevent collision between boom motor crank and container11arm_motor_pos_min = 25 # Min position of arm motor. To prevent collision between linkages12arm_motor_pos_max = 115 # Max position of arm motor. To prevent collision between linkages13arm_boom_motors_pos_relative_sum_max = -30 # Max sum between boom/arm motor positions. To prevent collision between arm motor crank and base frame14bucket_motor_pos_min = -1.415bucket_motor_pos_max = 2.116# MAX AND MIN JOINT SPEEDS FOR CREATING INTERMEDIATE TRAJECTORY. 17speedMax = [20.0,20.0,1.0] # RAD/S [boom,arm,bucket] Note: Boom and arm speed are BEFORE 50:1 gearbox. 18speedMin = [2.0,2.0,0.1] # RAD/S [boom,arm,bucket] Note: Boom and arm speed are BEFORE 50:1 gearbox. 19transition_hold_time = 1 # Seconds. Time to hold between intermediate trajectory and trajectory (append this many seconds of first frame to intermediate trajectory)20def jointAngles2xyPos(theta_boom, theta_arm):21	x = L1*math.cos(theta_boom)+L2*math.cos(theta_arm + theta_boom)22	y = -L1*math.sin(theta_boom)-L2*math.sin(theta_arm + theta_boom)23	return [x,y]24def xyPos2jointAngles(x, y):25	theta1 = -math.acos((y*y+x*x+L1*L1-L2*L2)/(2*L1*math.sqrt(x*x+y*y))) + math.atan2(-y,x)26	theta2 = math.acos((x-L1*math.cos(theta1))/L2)27	if y > -L1*math.sin(theta1): theta2 *= -128	return [theta1, theta2-theta1] # [theta_boom, theta_arm]29def checkPositionLimits(theta_boom, theta_arm, theta_bucket):30	if theta_boom > boom_motor_pos_max: theta_boom = boom_motor_pos_max 31	if theta_arm < arm_motor_pos_min: theta_arm = arm_motor_pos_min32	if theta_arm > arm_motor_pos_max: theta_arm = arm_motor_pos_max33	if theta_boom + theta_arm < arm_boom_motors_pos_relative_sum_max:34		if   theta_arm + theta_boom >= arm_boom_motors_pos_relative_sum_max:35			theta_arm = arm_boom_motors_pos_relative_sum_max - theta_boom36		else:37			theta_arm = arm_motor_pos_max38			theta_boom = arm_boom_motors_pos_relative_sum_max - theta_arm39	if theta_bucket > bucket_motor_pos_max: theta_bucket = bucket_motor_pos_max40	if theta_bucket < bucket_motor_pos_min: theta_bucket = bucket_motor_pos_min41	return [theta_boom, theta_arm, theta_bucket]42def createIntermediateTrajectory(desiredPos, currentPos, fps, speed_factor=1.0):43	intermediate_trajectory = []44	direction = [1,1,1]45	stepSize = [0,0,0]46	for i in range(0,3): 47		if desiredPos[i] < currentPos[i]: direction[i] = -148		stepSize[i] = direction[i]*(speed_factor*(speedMax[i] - speedMin[i]) + speedMin[i])/fps49	i = 050	while(True):51		joint_i = [0,0,0]52		for j in range(0,3): 53			joint_i[j] = currentPos[j] + i*stepSize[j]54			if joint_i[j]*stepSize[j] > desiredPos[j]*stepSize[j]: joint_i[j] = desiredPos[j]55		intermediate_trajectory.append(joint_i)56		if joint_i == desiredPos: break57		i += 158	for k in range(0,int(transition_hold_time*fps)):59		intermediate_trajectory.append(desiredPos)	60	return intermediate_trajectory61def readTrajectoryFromFile(file_name, isCartesian=False):62	trajectory = []63	with open(file_name) as csv_file:64    		csv_reader = csv.reader(csv_file)65   		for row in csv_reader:66			positions = []67			for col in row:	positions.append(float(col))68			if len(positions) != 3: 69				print 'INVALID FORMAT. EACH ROW OF TRAJECTORY CSV MUST HAVE EXACTLY 3 COLUMNS. DID NOT LOAD TRAJECTORY'70				return []71    			trajectory.append(positions)72	if isCartesian: 73		for i in range(0,len(trajectory)):74			theta_boom_theta_arm = xyPos2jointAngles(trajectory[i][0],trajectory[i][1])75			trajectory[i][0] = 50.0*theta_boom_theta_arm[0]76			trajectory[i][1] = 50.0*theta_boom_theta_arm[1]	77	78	for positions in trajectory:79		if positions != checkPositionLimits(positions[0],positions[1],positions[2]):80			print 'POSITION IN TRAJECTORY OUT OF RANGE. DID NOT LOAD TRAJECTORY'81			return []82	return trajectory83	...

test_format.py

Source:test_format.py

...5from jsonschema import FormatError, ValidationError, FormatChecker6from jsonschema.validators import Draft4Validator7BOOM = ValueError("Boom!")8BANG = ZeroDivisionError("Bang!")9def boom(thing):10    if thing == "bang":11        raise BANG12    raise BOOM13class TestFormatChecker(TestCase):14    def test_it_can_validate_no_formats(self):15        checker = FormatChecker(formats=())16        self.assertFalse(checker.checkers)17    def test_it_raises_a_key_error_for_unknown_formats(self):18        with self.assertRaises(KeyError):19            FormatChecker(formats=["o noes"])20    def test_it_can_register_cls_checkers(self):21        original = dict(FormatChecker.checkers)22        self.addCleanup(FormatChecker.checkers.pop, "boom")23        FormatChecker.cls_checks("boom")(boom)...

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