[removed test_estimator.py]

python/sot_talos_balance/test/test_estimator.py

-#!/usr/bin/python
-# -*- coding: utf-8 -*-1
-from sot_talos_balance.create_entities_utils import create_joint_trajectory_generator
-from sot_talos_balance.create_entities_utils import create_device_filters
-from dynamic_graph import plug
-from time import sleep
-import sot_talos_balance.talos_config as conf
-import os
-
-def main(robot):
-    dt = robot.timeStep;
-	NJ = robot.dimension-7
-	
-	#create entities
-    robot.traj_gen        = create_joint_trajectory_generator(dt);
-    robot.filters         = create_device_filters(dt,NJ);
-    robot.imu_filter      = create_imu_filter(robot, dt);
-    robot.base_estimator  = create_base_estimator(robot, dt, conf);
-
-    robot.device.control.value = 32*[0.0];
-    
-    #route signals
-    plug(robot.traj_gen.dx,           robot.device.control);
-    plug(robot.device.forceRLEG,      robot.filters.ft_RF_filter.x);
-    plug(robot.device.forceLLEG,      robot.filters.ft_LF_filter.x);
-    plug(robot.device.accelerometer,  robot.filters.acc_filter.x);
-    plug(robot.device.gyrometer,      robot.filters.gyro_filter.x);
-    plug(robot.device.state,          robot.filters.joints_kin.x); # device.state, device.joint_angles or device.motor_angles ?
-
-    sleep(1.0);
-    
-    #start simulation
-    os.system('rosservice call /start_dynamic_graph');
-    sleep(1.0);
-    robot.traj_gen.move(31,-1.0,1.0);
-    sleep(1.1);
-    robot.traj_gen.startSinusoid(31,3.0,2.0);
-    sleep(10.0);
-    robot.traj_gen.stop(31);