tweak the tests

petercorke · petercorke · commit d8f2c2c83f51 · 2020-10-26T22:13:41.000+10:00
diff --git a/tests/test_ELink.py b/tests/test_ELink.py
@@ -145,16 +145,16 @@ def test_dyn(self):
 
         self.assertEqual(
             s0,
-            "m     =  0.00 \n"
-            "r     =  0.00 0.00 0.00 \n"
-            "        | 0.00 0.00 0.00 | \n"
-            "I     = | 0.00 0.35 0.00 | \n"
-            "        | 0.00 0.00 0.00 | \n"
-            "Jm    =  0.00 \n"
-            "B     =  0.00 \n"
-            "Tc    =  0.40(+) -0.43(-) \n"
-            "G     =  -62.61 \n"
-            "qlim  =  -2.79 to 2.79")
+"""m     =         0 
+r     =         0        0        0 
+        |        0        0        0 | 
+I     = |        0     0.35        0 | 
+        |        0        0        0 | 
+Jm    =         0 
+B     =         0 
+Tc    =       0.4(+)    -0.43(-) 
+G     =       -63 
+qlim  =      -2.8 to      2.8""")
 
     def test_properties(self):
         l0 = rp.ELink()
diff --git a/tests/test_Link.py b/tests/test_Link.py
@@ -190,6 +190,24 @@ def test_setB(self):
         with self.assertRaises(TypeError):
             l0.B = [1, 2]
 
+    def test_robot(self):
+        l0 = rp.RevoluteDH()
+        r = rp.Robot([l0])
+
+        self.assertIs(l0._robot, r)
+
+    def test_copy(self):
+
+        l0 = rp.RevoluteDH()
+        r = rp.Robot([l0])
+        l1 = l0.copy()
+        l0.m = 4
+        l0.r[1] = 5
+        self.assertEqual(l1.m, 0)
+        self.assertEqual(l1.r[1], 0)
+        self.assertIs(l0._robot, r)
+        self.assertIs(l1._robot, r)
+
 if __name__ == '__main__':
 
     unittest.main()
