[added unittest on Base-estimator] to demonstrate that it shares the same...

[added unittest on Base-estimator] to demonstrate that it shares the same pointer to robotUtil as Entity Example

unittest/python/test_base_estimator.py

+from sot_talos_balance.create_entities_utils import *
+from sot_talos_balance.utils.plot_utils import *
+import sot_talos_balance.talos_conf as conf
+import sot_talos_balance.motor_parameters as motor_params
+import sot_talos_balance.control_manager_conf as control_manager_conf
+from dynamic_graph.sot.core.meta_tasks_kine import MetaTaskKine6d, MetaTaskKineCom, gotoNd
+from dynamic_graph.sot.core.matrix_util import matrixToTuple
+from dynamic_graph import plug
+import dynamic_graph as dg
+from dynamic_graph.sot.core import SOT
+from numpy import eye
+from time import sleep
+import os
+from IPython import embed
+from sot_talos_balance.control_manager                        import ControlManager
+from sot_talos_balance.example                                import Example
+from sot_talos_balance.parameter_server                       import ParameterServer
+from dynamic_graph.tracer_real_time                           import TracerRealTime
+from time                                                     import sleep
+from sot_talos_balance.base_estimator                         import BaseEstimator
+from sot_talos_balance.madgwickahrs                           import MadgwickAHRS
+from sot_talos_balance.imu_offset_compensation                import ImuOffsetCompensation
+from sot_talos_balance.utils.sot_utils                        import Bunch
+from sot_talos_balance.example                                import Example
+import sot_talos_balance.talos.control_manager_conf as control_manager_conf
+
+dt = 0.001
+conf = Bunch()
+robot_name = 'robot'
+
+conf.param_server = control_manager_conf
+param_server = ParameterServer("param_server")     
+param_server.init(dt, conf.param_server.urdfFileName, robot_name)
+param_server.setRightFootForceSensorXYZ(conf.param_server.rightFootSensorXYZ)
+param_server.setRightFootSoleXYZ(conf.param_server.rightFootSoleXYZ)
+
+base_estimator = BaseEstimator('base_estimator')
+base_estimator.init(dt, robot_name)
+
+example = Example('example')
+example.firstAddend.value  = 0.
+example.secondAddend.value = 0.
+example.init(robot_name)  
+
+
+
+
+
+
+
+