git commit -m "first commit"

navigations/geographic_info/geodesy/tests/test_utm.py

@@ -0,0 +1,58 @@
+#!/usr/bin/env python
+
+import sys
+import unittest
+
+from geodesy.utm import *
+
+## A sample python unit test
+class TestUTMPoint(unittest.TestCase):
+
+    def test_null_constructor(self):
+        pt = UTMPoint()
+        self.assertFalse(pt.valid(),
+                         msg='uninitialized UTMPoint should be invalid: ' + str(pt))
+        self.assertTrue(pt.is2D(),
+                        msg='this UTMPoint should be 2D: ' + str(pt))
+        self.assertRaises(ValueError, pt.toMsg)
+
+    def test_wgs84_utm_conversion_3d(self):
+        # UTM point in Pickle Research Campus, University of Texas, Austin
+        ll = GeoPoint(latitude = 30.385315,
+                      longitude = -97.728524,
+                      altitude = 209.0)
+        pt = fromMsg(ll)
+        self.assertEqual(str(pt), 'UTM: [622159.338, 3362168.303, 209.000, 14R]',
+                         msg='conversion failed: ' + str(pt))
+        self.assertTrue(pt.valid(), msg='invalid UTMPoint: ' + str(pt))
+        self.assertFalse(pt.is2D(), msg='this UTMPoint should be 3D: ' + str(pt))
+        self.assertEqual(pt.gridZone(), (14, 'R'))
+        self.assertEqual(str(pt.toMsg()), str(ll),
+                         msg='GeoPoint conversion failed for: ' + str(pt))
+        point_xyz = pt.toPoint()
+        self.assertAlmostEqual(point_xyz.x, 622159.338, places = 3)
+        self.assertAlmostEqual(point_xyz.y, 3362168.303, places = 3)
+        self.assertAlmostEqual(point_xyz.z, 209.0, places = 3)
+
+    def test_wgs84_utm_conversion_2d(self):
+        # same point, but without altitude
+        lat = 30.385315
+        lon = -97.728524
+        alt = float('nan')
+        pt = fromLatLong(lat, lon)
+        self.assertEqual(str(pt), 'UTM: [622159.338, 3362168.303, nan, 14R]',
+                         msg='conversion failed: ' + str(pt))
+        self.assertTrue(pt.valid(), msg='invalid UTMPoint: ' + str(pt))
+        self.assertTrue(pt.is2D(), msg='this UTMPoint should be 2D: ' + str(pt))
+        self.assertEqual(pt.gridZone(), (14, 'R'))
+        self.assertEqual(str(pt.toMsg()), str(GeoPoint(lat, lon, alt)),
+                         msg='GeoPoint conversion failed for: ' + str(pt))
+        point_xy = pt.toPoint()
+        self.assertAlmostEqual(point_xy.x, 622159.338, places = 3)
+        self.assertAlmostEqual(point_xy.y, 3362168.303, places = 3)
+        self.assertAlmostEqual(point_xy.z, 0.0, places = 3)
+ 
+if __name__ == '__main__':
+    import rosunit
+    PKG='geodesy'
+    rosunit.unitrun(PKG, 'test_utm_py', TestUTMPoint)