Merge pull request #181 from yianni/rcc5

yianni · yianni · commit 8154129b3ce2 · 2015-09-30T14:56:39.000+01:00
added rcc5 for completeness
diff --git a/qsr_lib/CMakeLists.txt b/qsr_lib/CMakeLists.txt
@@ -51,6 +51,7 @@ if (CATKIN_ENABLE_TESTING)
   add_rostest(tests/ra_tester.test)
   add_rostest(tests/rcc2_tester.test)
   add_rostest(tests/rcc3_tester.test)
+  add_rostest(tests/rcc5_tester.test)
   add_rostest(tests/rcc8_tester.test)
 #  add_rostest(tests/multiple_tester.test)
 
diff --git a/qsr_lib/scripts/example_extended.py b/qsr_lib/scripts/example_extended.py
@@ -69,7 +69,7 @@ def pretty_print_world_qsr_trace(which_qsr, qsrlib_response_message):
         world.add_object_state_series(o2)
         world.add_object_state_series(o3)
 
-    elif which_qsr == "rcc8":
+    elif which_qsr == "rcc8" or which_qsr == "rcc5":
         # dynamic_args = {which_qsr: {"quantisation_factor": args.quantisation_factor}}
         o1 = [Object_State(name="o1", timestamp=0, x=1., y=1., xsize=5., ysize=8.),
               Object_State(name="o1", timestamp=1, x=1., y=2., xsize=5., ysize=8.),
diff --git a/qsr_lib/src/qsrlib_qsrs/__init__.py b/qsr_lib/src/qsrlib_qsrs/__init__.py
@@ -1,5 +1,6 @@
 from qsr_rcc2 import QSR_RCC2
 from qsr_rcc3_rectangle_bounding_boxes_2d import QSR_RCC3_Rectangle_Bounding_Boxes_2D
+from qsr_rcc5 import QSR_RCC5
 from qsr_rcc8 import QSR_RCC8
 from qsr_cardinal_direction import QSR_Cardinal_Direction
 from qsr_qtc_b_simplified import QSR_QTC_B_Simplified
@@ -14,6 +15,7 @@
 # register new qsrs by class name below
 qsrs_registry = (QSR_RCC2,
                  QSR_RCC3_Rectangle_Bounding_Boxes_2D,
+                 QSR_RCC5,
                  QSR_RCC8,
                  QSR_Cardinal_Direction,
                  QSR_QTC_B_Simplified,
diff --git a/qsr_lib/src/qsrlib_qsrs/qsr_rcc5.py b/qsr_lib/src/qsrlib_qsrs/qsr_rcc5.py
@@ -0,0 +1,28 @@
+# -*- coding: utf-8 -*-
+from __future__ import print_function, division
+from qsrlib_qsrs.qsr_rcc_abstractclass import QSR_RCC_Abstractclass
+
+
+class QSR_RCC5(QSR_RCC_Abstractclass):
+    """Computes symmetrical RCC5 relations
+
+    """
+
+    _unique_id = "rcc5"
+
+    _all_possible_relations = ("dr", "po", "pp", "ppi", "eq")
+
+    __mapping_from_rcc8 = {"dc": "dr",
+                           "ec": "dr",
+                           "po": "po",
+                           "tpp": "pp",
+                           "ntpp": "pp",
+                           "tppi": "ppi",
+                           "ntppi": "ppi",
+                           "eq": "eq"}
+
+    def __init__(self):
+        super(QSR_RCC5, self).__init__()
+
+    def _convert_to_requested_rcc_type(self, qsr):
+        return self.__mapping_from_rcc8[qsr]
diff --git a/qsr_lib/tests/data/data1_rcc5_custom.txt b/qsr_lib/tests/data/data1_rcc5_custom.txt
@@ -0,0 +1 @@
+["1.0,o1,o2,{'rcc5': 'po'}", "2.0,o1,o2,{'rcc5': 'po'}", "3.0,o1,o2,{'rcc5': 'po'}", "4.0,o1,o2,{'rcc5': 'po'}", "5.0,o1,o2,{'rcc5': 'po'}", "6.0,o1,o2,{'rcc5': 'po'}", "7.0,o1,o2,{'rcc5': 'po'}", "8.0,o1,o2,{'rcc5': 'po'}", "9.0,o1,o2,{'rcc5': 'po'}", "10.0,o1,o2,{'rcc5': 'po'}", "11.0,o1,o2,{'rcc5': 'po'}", "12.0,o1,o2,{'rcc5': 'po'}", "13.0,o1,o2,{'rcc5': 'po'}", "14.0,o1,o2,{'rcc5': 'po'}", "15.0,o1,o2,{'rcc5': 'po'}", "16.0,o1,o2,{'rcc5': 'po'}", "17.0,o1,o2,{'rcc5': 'po'}", "18.0,o1,o2,{'rcc5': 'po'}", "19.0,o1,o2,{'rcc5': 'po'}", "20.0,o1,o2,{'rcc5': 'po'}", "21.0,o1,o2,{'rcc5': 'po'}", "22.0,o1,o2,{'rcc5': 'po'}", "23.0,o1,o2,{'rcc5': 'po'}", "24.0,o1,o2,{'rcc5': 'po'}", "25.0,o1,o2,{'rcc5': 'eq'}", "26.0,o1,o2,{'rcc5': 'po'}", "27.0,o1,o2,{'rcc5': 'po'}", "28.0,o1,o2,{'rcc5': 'po'}", "29.0,o1,o2,{'rcc5': 'po'}", "30.0,o1,o2,{'rcc5': 'po'}", "31.0,o1,o2,{'rcc5': 'po'}", "32.0,o1,o2,{'rcc5': 'po'}", "33.0,o1,o2,{'rcc5': 'po'}", "34.0,o1,o2,{'rcc5': 'po'}", "35.0,o1,o2,{'rcc5': 'po'}", "36.0,o1,o2,{'rcc5': 'po'}", "37.0,o1,o2,{'rcc5': 'po'}", "38.0,o1,o2,{'rcc5': 'po'}", "39.0,o1,o2,{'rcc5': 'po'}", "40.0,o1,o2,{'rcc5': 'po'}", "41.0,o1,o2,{'rcc5': 'po'}", "42.0,o1,o2,{'rcc5': 'po'}", "43.0,o1,o2,{'rcc5': 'po'}", "44.0,o1,o2,{'rcc5': 'po'}", "45.0,o1,o2,{'rcc5': 'po'}", "46.0,o1,o2,{'rcc5': 'po'}", "47.0,o1,o2,{'rcc5': 'po'}", "48.0,o1,o2,{'rcc5': 'po'}", "49.0,o1,o2,{'rcc5': 'po'}"]
diff --git a/qsr_lib/tests/data/data1_rcc5_defaults.txt b/qsr_lib/tests/data/data1_rcc5_defaults.txt
@@ -0,0 +1 @@
+["1.0,o1,o2,{'rcc5': 'dr'}", "1.0,o2,o1,{'rcc5': 'dr'}", "2.0,o1,o2,{'rcc5': 'dr'}", "2.0,o2,o1,{'rcc5': 'dr'}", "3.0,o1,o2,{'rcc5': 'dr'}", "3.0,o2,o1,{'rcc5': 'dr'}", "4.0,o1,o2,{'rcc5': 'dr'}", "4.0,o2,o1,{'rcc5': 'dr'}", "5.0,o1,o2,{'rcc5': 'dr'}", "5.0,o2,o1,{'rcc5': 'dr'}", "6.0,o1,o2,{'rcc5': 'dr'}", "6.0,o2,o1,{'rcc5': 'dr'}", "7.0,o1,o2,{'rcc5': 'dr'}", "7.0,o2,o1,{'rcc5': 'dr'}", "8.0,o1,o2,{'rcc5': 'dr'}", "8.0,o2,o1,{'rcc5': 'dr'}", "9.0,o1,o2,{'rcc5': 'dr'}", "9.0,o2,o1,{'rcc5': 'dr'}", "10.0,o1,o2,{'rcc5': 'dr'}", "10.0,o2,o1,{'rcc5': 'dr'}", "11.0,o1,o2,{'rcc5': 'dr'}", "11.0,o2,o1,{'rcc5': 'dr'}", "12.0,o1,o2,{'rcc5': 'dr'}", "12.0,o2,o1,{'rcc5': 'dr'}", "13.0,o1,o2,{'rcc5': 'dr'}", "13.0,o2,o1,{'rcc5': 'dr'}", "14.0,o1,o2,{'rcc5': 'dr'}", "14.0,o2,o1,{'rcc5': 'dr'}", "15.0,o1,o2,{'rcc5': 'dr'}", "15.0,o2,o1,{'rcc5': 'dr'}", "16.0,o1,o2,{'rcc5': 'dr'}", "16.0,o2,o1,{'rcc5': 'dr'}", "17.0,o1,o2,{'rcc5': 'po'}", "17.0,o2,o1,{'rcc5': 'po'}", "18.0,o1,o2,{'rcc5': 'po'}", "18.0,o2,o1,{'rcc5': 'po'}", "19.0,o1,o2,{'rcc5': 'po'}", "19.0,o2,o1,{'rcc5': 'po'}", "20.0,o1,o2,{'rcc5': 'dr'}", "20.0,o2,o1,{'rcc5': 'dr'}", "21.0,o1,o2,{'rcc5': 'dr'}", "21.0,o2,o1,{'rcc5': 'dr'}", "22.0,o1,o2,{'rcc5': 'dr'}", "22.0,o2,o1,{'rcc5': 'dr'}", "23.0,o1,o2,{'rcc5': 'dr'}", "23.0,o2,o1,{'rcc5': 'dr'}", "24.0,o1,o2,{'rcc5': 'po'}", "24.0,o2,o1,{'rcc5': 'po'}", "25.0,o1,o2,{'rcc5': 'eq'}", "25.0,o2,o1,{'rcc5': 'eq'}", "26.0,o1,o2,{'rcc5': 'po'}", "26.0,o2,o1,{'rcc5': 'po'}", "27.0,o1,o2,{'rcc5': 'dr'}", "27.0,o2,o1,{'rcc5': 'dr'}", "28.0,o1,o2,{'rcc5': 'dr'}", "28.0,o2,o1,{'rcc5': 'dr'}", "29.0,o1,o2,{'rcc5': 'dr'}", "29.0,o2,o1,{'rcc5': 'dr'}", "30.0,o1,o2,{'rcc5': 'dr'}", "30.0,o2,o1,{'rcc5': 'dr'}", "31.0,o1,o2,{'rcc5': 'po'}", "31.0,o2,o1,{'rcc5': 'po'}", "32.0,o1,o2,{'rcc5': 'po'}", "32.0,o2,o1,{'rcc5': 'po'}", "33.0,o1,o2,{'rcc5': 'po'}", "33.0,o2,o1,{'rcc5': 'po'}", "34.0,o1,o2,{'rcc5': 'dr'}", "34.0,o2,o1,{'rcc5': 'dr'}", "35.0,o1,o2,{'rcc5': 'dr'}", "35.0,o2,o1,{'rcc5': 'dr'}", "36.0,o1,o2,{'rcc5': 'dr'}", "36.0,o2,o1,{'rcc5': 'dr'}", "37.0,o1,o2,{'rcc5': 'dr'}", "37.0,o2,o1,{'rcc5': 'dr'}", "38.0,o1,o2,{'rcc5': 'dr'}", "38.0,o2,o1,{'rcc5': 'dr'}", "39.0,o1,o2,{'rcc5': 'dr'}", "39.0,o2,o1,{'rcc5': 'dr'}", "40.0,o1,o2,{'rcc5': 'dr'}", "40.0,o2,o1,{'rcc5': 'dr'}", "41.0,o1,o2,{'rcc5': 'dr'}", "41.0,o2,o1,{'rcc5': 'dr'}", "42.0,o1,o2,{'rcc5': 'dr'}", "42.0,o2,o1,{'rcc5': 'dr'}", "43.0,o1,o2,{'rcc5': 'dr'}", "43.0,o2,o1,{'rcc5': 'dr'}", "44.0,o1,o2,{'rcc5': 'dr'}", "44.0,o2,o1,{'rcc5': 'dr'}", "45.0,o1,o2,{'rcc5': 'dr'}", "45.0,o2,o1,{'rcc5': 'dr'}", "46.0,o1,o2,{'rcc5': 'dr'}", "46.0,o2,o1,{'rcc5': 'dr'}", "47.0,o1,o2,{'rcc5': 'dr'}", "47.0,o2,o1,{'rcc5': 'dr'}", "48.0,o1,o2,{'rcc5': 'dr'}", "48.0,o2,o1,{'rcc5': 'dr'}", "49.0,o1,o2,{'rcc5': 'dr'}", "49.0,o2,o1,{'rcc5': 'dr'}"]
diff --git a/qsr_lib/tests/data/data1_rcc5_q_factor_2p0.txt b/qsr_lib/tests/data/data1_rcc5_q_factor_2p0.txt
@@ -0,0 +1 @@
+["1.0,o1,o2,{'rcc5': 'po'}", "1.0,o2,o1,{'rcc5': 'po'}", "2.0,o1,o2,{'rcc5': 'po'}", "2.0,o2,o1,{'rcc5': 'po'}", "3.0,o1,o2,{'rcc5': 'po'}", "3.0,o2,o1,{'rcc5': 'po'}", "4.0,o1,o2,{'rcc5': 'po'}", "4.0,o2,o1,{'rcc5': 'po'}", "5.0,o1,o2,{'rcc5': 'po'}", "5.0,o2,o1,{'rcc5': 'po'}", "6.0,o1,o2,{'rcc5': 'po'}", "6.0,o2,o1,{'rcc5': 'po'}", "7.0,o1,o2,{'rcc5': 'po'}", "7.0,o2,o1,{'rcc5': 'po'}", "8.0,o1,o2,{'rcc5': 'po'}", "8.0,o2,o1,{'rcc5': 'po'}", "9.0,o1,o2,{'rcc5': 'po'}", "9.0,o2,o1,{'rcc5': 'po'}", "10.0,o1,o2,{'rcc5': 'po'}", "10.0,o2,o1,{'rcc5': 'po'}", "11.0,o1,o2,{'rcc5': 'po'}", "11.0,o2,o1,{'rcc5': 'po'}", "12.0,o1,o2,{'rcc5': 'po'}", "12.0,o2,o1,{'rcc5': 'po'}", "13.0,o1,o2,{'rcc5': 'po'}", "13.0,o2,o1,{'rcc5': 'po'}", "14.0,o1,o2,{'rcc5': 'po'}", "14.0,o2,o1,{'rcc5': 'po'}", "15.0,o1,o2,{'rcc5': 'po'}", "15.0,o2,o1,{'rcc5': 'po'}", "16.0,o1,o2,{'rcc5': 'po'}", "16.0,o2,o1,{'rcc5': 'po'}", "17.0,o1,o2,{'rcc5': 'po'}", "17.0,o2,o1,{'rcc5': 'po'}", "18.0,o1,o2,{'rcc5': 'po'}", "18.0,o2,o1,{'rcc5': 'po'}", "19.0,o1,o2,{'rcc5': 'po'}", "19.0,o2,o1,{'rcc5': 'po'}", "20.0,o1,o2,{'rcc5': 'po'}", "20.0,o2,o1,{'rcc5': 'po'}", "21.0,o1,o2,{'rcc5': 'po'}", "21.0,o2,o1,{'rcc5': 'po'}", "22.0,o1,o2,{'rcc5': 'po'}", "22.0,o2,o1,{'rcc5': 'po'}", "23.0,o1,o2,{'rcc5': 'po'}", "23.0,o2,o1,{'rcc5': 'po'}", "24.0,o1,o2,{'rcc5': 'po'}", "24.0,o2,o1,{'rcc5': 'po'}", "25.0,o1,o2,{'rcc5': 'eq'}", "25.0,o2,o1,{'rcc5': 'eq'}", "26.0,o1,o2,{'rcc5': 'po'}", "26.0,o2,o1,{'rcc5': 'po'}", "27.0,o1,o2,{'rcc5': 'po'}", "27.0,o2,o1,{'rcc5': 'po'}", "28.0,o1,o2,{'rcc5': 'po'}", "28.0,o2,o1,{'rcc5': 'po'}", "29.0,o1,o2,{'rcc5': 'po'}", "29.0,o2,o1,{'rcc5': 'po'}", "30.0,o1,o2,{'rcc5': 'po'}", "30.0,o2,o1,{'rcc5': 'po'}", "31.0,o1,o2,{'rcc5': 'po'}", "31.0,o2,o1,{'rcc5': 'po'}", "32.0,o1,o2,{'rcc5': 'po'}", "32.0,o2,o1,{'rcc5': 'po'}", "33.0,o1,o2,{'rcc5': 'po'}", "33.0,o2,o1,{'rcc5': 'po'}", "34.0,o1,o2,{'rcc5': 'po'}", "34.0,o2,o1,{'rcc5': 'po'}", "35.0,o1,o2,{'rcc5': 'po'}", "35.0,o2,o1,{'rcc5': 'po'}", "36.0,o1,o2,{'rcc5': 'po'}", "36.0,o2,o1,{'rcc5': 'po'}", "37.0,o1,o2,{'rcc5': 'po'}", "37.0,o2,o1,{'rcc5': 'po'}", "38.0,o1,o2,{'rcc5': 'po'}", "38.0,o2,o1,{'rcc5': 'po'}", "39.0,o1,o2,{'rcc5': 'po'}", "39.0,o2,o1,{'rcc5': 'po'}", "40.0,o1,o2,{'rcc5': 'po'}", "40.0,o2,o1,{'rcc5': 'po'}", "41.0,o1,o2,{'rcc5': 'po'}", "41.0,o2,o1,{'rcc5': 'po'}", "42.0,o1,o2,{'rcc5': 'po'}", "42.0,o2,o1,{'rcc5': 'po'}", "43.0,o1,o2,{'rcc5': 'po'}", "43.0,o2,o1,{'rcc5': 'po'}", "44.0,o1,o2,{'rcc5': 'po'}", "44.0,o2,o1,{'rcc5': 'po'}", "45.0,o1,o2,{'rcc5': 'po'}", "45.0,o2,o1,{'rcc5': 'po'}", "46.0,o1,o2,{'rcc5': 'po'}", "46.0,o2,o1,{'rcc5': 'po'}", "47.0,o1,o2,{'rcc5': 'po'}", "47.0,o2,o1,{'rcc5': 'po'}", "48.0,o1,o2,{'rcc5': 'po'}", "48.0,o2,o1,{'rcc5': 'po'}", "49.0,o1,o2,{'rcc5': 'po'}", "49.0,o2,o1,{'rcc5': 'po'}"]
diff --git a/qsr_lib/tests/data/data1_rcc5_qsrs_for_global_namespace.txt b/qsr_lib/tests/data/data1_rcc5_qsrs_for_global_namespace.txt
@@ -0,0 +1 @@
+["1.0,o2,o1,{'rcc5': 'dr'}", "2.0,o2,o1,{'rcc5': 'dr'}", "3.0,o2,o1,{'rcc5': 'dr'}", "4.0,o2,o1,{'rcc5': 'dr'}", "5.0,o2,o1,{'rcc5': 'dr'}", "6.0,o2,o1,{'rcc5': 'dr'}", "7.0,o2,o1,{'rcc5': 'dr'}", "8.0,o2,o1,{'rcc5': 'dr'}", "9.0,o2,o1,{'rcc5': 'dr'}", "10.0,o2,o1,{'rcc5': 'dr'}", "11.0,o2,o1,{'rcc5': 'dr'}", "12.0,o2,o1,{'rcc5': 'dr'}", "13.0,o2,o1,{'rcc5': 'dr'}", "14.0,o2,o1,{'rcc5': 'dr'}", "15.0,o2,o1,{'rcc5': 'dr'}", "16.0,o2,o1,{'rcc5': 'dr'}", "17.0,o2,o1,{'rcc5': 'po'}", "18.0,o2,o1,{'rcc5': 'po'}", "19.0,o2,o1,{'rcc5': 'po'}", "20.0,o2,o1,{'rcc5': 'dr'}", "21.0,o2,o1,{'rcc5': 'dr'}", "22.0,o2,o1,{'rcc5': 'dr'}", "23.0,o2,o1,{'rcc5': 'dr'}", "24.0,o2,o1,{'rcc5': 'po'}", "25.0,o2,o1,{'rcc5': 'eq'}", "26.0,o2,o1,{'rcc5': 'po'}", "27.0,o2,o1,{'rcc5': 'dr'}", "28.0,o2,o1,{'rcc5': 'dr'}", "29.0,o2,o1,{'rcc5': 'dr'}", "30.0,o2,o1,{'rcc5': 'dr'}", "31.0,o2,o1,{'rcc5': 'po'}", "32.0,o2,o1,{'rcc5': 'po'}", "33.0,o2,o1,{'rcc5': 'po'}", "34.0,o2,o1,{'rcc5': 'dr'}", "35.0,o2,o1,{'rcc5': 'dr'}", "36.0,o2,o1,{'rcc5': 'dr'}", "37.0,o2,o1,{'rcc5': 'dr'}", "38.0,o2,o1,{'rcc5': 'dr'}", "39.0,o2,o1,{'rcc5': 'dr'}", "40.0,o2,o1,{'rcc5': 'dr'}", "41.0,o2,o1,{'rcc5': 'dr'}", "42.0,o2,o1,{'rcc5': 'dr'}", "43.0,o2,o1,{'rcc5': 'dr'}", "44.0,o2,o1,{'rcc5': 'dr'}", "45.0,o2,o1,{'rcc5': 'dr'}", "46.0,o2,o1,{'rcc5': 'dr'}", "47.0,o2,o1,{'rcc5': 'dr'}", "48.0,o2,o1,{'rcc5': 'dr'}", "49.0,o2,o1,{'rcc5': 'dr'}"]
diff --git a/qsr_lib/tests/data/data1_rcc5_qsrs_for_qsr_namespace.txt b/qsr_lib/tests/data/data1_rcc5_qsrs_for_qsr_namespace.txt
@@ -0,0 +1 @@
+["1.0,o1,o2,{'rcc5': 'dr'}", "2.0,o1,o2,{'rcc5': 'dr'}", "3.0,o1,o2,{'rcc5': 'dr'}", "4.0,o1,o2,{'rcc5': 'dr'}", "5.0,o1,o2,{'rcc5': 'dr'}", "6.0,o1,o2,{'rcc5': 'dr'}", "7.0,o1,o2,{'rcc5': 'dr'}", "8.0,o1,o2,{'rcc5': 'dr'}", "9.0,o1,o2,{'rcc5': 'dr'}", "10.0,o1,o2,{'rcc5': 'dr'}", "11.0,o1,o2,{'rcc5': 'dr'}", "12.0,o1,o2,{'rcc5': 'dr'}", "13.0,o1,o2,{'rcc5': 'dr'}", "14.0,o1,o2,{'rcc5': 'dr'}", "15.0,o1,o2,{'rcc5': 'dr'}", "16.0,o1,o2,{'rcc5': 'dr'}", "17.0,o1,o2,{'rcc5': 'po'}", "18.0,o1,o2,{'rcc5': 'po'}", "19.0,o1,o2,{'rcc5': 'po'}", "20.0,o1,o2,{'rcc5': 'dr'}", "21.0,o1,o2,{'rcc5': 'dr'}", "22.0,o1,o2,{'rcc5': 'dr'}", "23.0,o1,o2,{'rcc5': 'dr'}", "24.0,o1,o2,{'rcc5': 'po'}", "25.0,o1,o2,{'rcc5': 'eq'}", "26.0,o1,o2,{'rcc5': 'po'}", "27.0,o1,o2,{'rcc5': 'dr'}", "28.0,o1,o2,{'rcc5': 'dr'}", "29.0,o1,o2,{'rcc5': 'dr'}", "30.0,o1,o2,{'rcc5': 'dr'}", "31.0,o1,o2,{'rcc5': 'po'}", "32.0,o1,o2,{'rcc5': 'po'}", "33.0,o1,o2,{'rcc5': 'po'}", "34.0,o1,o2,{'rcc5': 'dr'}", "35.0,o1,o2,{'rcc5': 'dr'}", "36.0,o1,o2,{'rcc5': 'dr'}", "37.0,o1,o2,{'rcc5': 'dr'}", "38.0,o1,o2,{'rcc5': 'dr'}", "39.0,o1,o2,{'rcc5': 'dr'}", "40.0,o1,o2,{'rcc5': 'dr'}", "41.0,o1,o2,{'rcc5': 'dr'}", "42.0,o1,o2,{'rcc5': 'dr'}", "43.0,o1,o2,{'rcc5': 'dr'}", "44.0,o1,o2,{'rcc5': 'dr'}", "45.0,o1,o2,{'rcc5': 'dr'}", "46.0,o1,o2,{'rcc5': 'dr'}", "47.0,o1,o2,{'rcc5': 'dr'}", "48.0,o1,o2,{'rcc5': 'dr'}", "49.0,o1,o2,{'rcc5': 'dr'}"]
diff --git a/qsr_lib/tests/data/data2_rcc5_defaults.txt b/qsr_lib/tests/data/data2_rcc5_defaults.txt
diff --git a/qsr_lib/tests/data/data3_rcc5_defaults.txt b/qsr_lib/tests/data/data3_rcc5_defaults.txt
diff --git a/qsr_lib/tests/data/data4_rcc5_defaults.txt b/qsr_lib/tests/data/data4_rcc5_defaults.txt
diff --git a/qsr_lib/tests/rcc5_tester.py b/qsr_lib/tests/rcc5_tester.py
@@ -0,0 +1,48 @@
+#!/usr/bin/env python
+from __future__ import print_function, division
+import sys
+from abstractclass_unittest_dyadic import Abstractclass_Unittest_Dyadic
+
+
+class RCC5_Test(Abstractclass_Unittest_Dyadic):
+    def __init__(self, *args):
+        super(RCC5_Test, self).__init__(*args)
+        self._unique_id = "rcc5"
+        self.__params = {"quantisation_factor": 2.0}
+        self.__custom = {self._unique_id: {"qsrs_for": [("o1", "o2")],
+                                           "quantisation_factor": 2.0}}
+
+    def test_defaults(self):
+        self.assertItemsEqual(*self.defaults("data1", "data1_rcc5_defaults.txt"))
+
+    def test_qsrs_for_global_namespace(self):
+        self.assertItemsEqual(*self.qsrs_for_global_namespace("data1", "data1_rcc5_qsrs_for_global_namespace.txt"))
+
+    def test_qsrs_for_qsr_namespace(self):
+        self.assertItemsEqual(*self.qsrs_for_qsr_namespace("data1", "data1_rcc5_qsrs_for_qsr_namespace.txt"))
+        # precedes "for_all_qsrs" namespace
+        self.assertItemsEqual(*self.qsrs_for_qsr_namespace_over_global_namespace("data1",
+                                                                                 "data1_rcc5_qsrs_for_qsr_namespace.txt"))
+
+    def test_q_factor(self):
+        self.assertItemsEqual(*self.q_factor("data1", "data1_rcc5_q_factor_2p0.txt",
+                                             self.__params["quantisation_factor"]))
+        q_factor_results, defaults_results = self.q_factor_data_notequal_defaults("data1_rcc5_q_factor_2p0.txt",
+                                                                                  "data1_rcc5_defaults.txt")
+        self.assertFalse(q_factor_results == defaults_results)
+
+    def test_with_bounding_boxes(self):
+        self.assertItemsEqual(*self.defaults("data2", "data2_rcc5_defaults.txt"))
+
+    def test_without_bounding_boxes(self):
+        self.assertItemsEqual(*self.defaults("data3", "data3_rcc5_defaults.txt"))
+
+    def test_floats(self):
+        self.assertItemsEqual(*self.defaults("data4", "data4_rcc5_defaults.txt"))
+
+    def test_custom(self):
+        self.assertItemsEqual(*self.custom("data1", "data1_rcc5_custom.txt", self.__custom))
+
+if __name__ == '__main__':
+    import rosunit
+    rosunit.unitrun("qsr_lib", "rcc5_test", RCC5_Test, sys.argv)
diff --git a/qsr_lib/tests/rcc5_tester.test b/qsr_lib/tests/rcc5_tester.test
@@ -0,0 +1,3 @@
+<launch>
+  <test test-name="rcc5_tester" pkg="qsr_lib" type="rcc5_tester.py" />
+</launch>

Original file line number	Diff line number	Diff line change
`@@ -0,0 +1 @@`
	`1`	+["1.0,o1,o2,{'rcc5': 'po'}", "2.0,o1,o2,{'rcc5': 'po'}", "3.0,o1,o2,{'rcc5': 'po'}", "4.0,o1,o2,{'rcc5': 'po'}", "5.0,o1,o2,{'rcc5': 'po'}", "6.0,o1,o2,{'rcc5': 'po'}", "7.0,o1,o2,{'rcc5': 'po'}", "8.0,o1,o2,{'rcc5': 'po'}", "9.0,o1,o2,{'rcc5': 'po'}", "10.0,o1,o2,{'rcc5': 'po'}", "11.0,o1,o2,{'rcc5': 'po'}", "12.0,o1,o2,{'rcc5': 'po'}", "13.0,o1,o2,{'rcc5': 'po'}", "14.0,o1,o2,{'rcc5': 'po'}", "15.0,o1,o2,{'rcc5': 'po'}", "16.0,o1,o2,{'rcc5': 'po'}", "17.0,o1,o2,{'rcc5': 'po'}", "18.0,o1,o2,{'rcc5': 'po'}", "19.0,o1,o2,{'rcc5': 'po'}", "20.0,o1,o2,{'rcc5': 'po'}", "21.0,o1,o2,{'rcc5': 'po'}", "22.0,o1,o2,{'rcc5': 'po'}", "23.0,o1,o2,{'rcc5': 'po'}", "24.0,o1,o2,{'rcc5': 'po'}", "25.0,o1,o2,{'rcc5': 'eq'}", "26.0,o1,o2,{'rcc5': 'po'}", "27.0,o1,o2,{'rcc5': 'po'}", "28.0,o1,o2,{'rcc5': 'po'}", "29.0,o1,o2,{'rcc5': 'po'}", "30.0,o1,o2,{'rcc5': 'po'}", "31.0,o1,o2,{'rcc5': 'po'}", "32.0,o1,o2,{'rcc5': 'po'}", "33.0,o1,o2,{'rcc5': 'po'}", "34.0,o1,o2,{'rcc5': 'po'}", "35.0,o1,o2,{'rcc5': 'po'}", "36.0,o1,o2,{'rcc5': 'po'}", "37.0,o1,o2,{'rcc5': 'po'}", "38.0,o1,o2,{'rcc5': 'po'}", "39.0,o1,o2,{'rcc5': 'po'}", "40.0,o1,o2,{'rcc5': 'po'}", "41.0,o1,o2,{'rcc5': 'po'}", "42.0,o1,o2,{'rcc5': 'po'}", "43.0,o1,o2,{'rcc5': 'po'}", "44.0,o1,o2,{'rcc5': 'po'}", "45.0,o1,o2,{'rcc5': 'po'}", "46.0,o1,o2,{'rcc5': 'po'}", "47.0,o1,o2,{'rcc5': 'po'}", "48.0,o1,o2,{'rcc5': 'po'}", "49.0,o1,o2,{'rcc5': 'po'}"]
Original file line number	Diff line number	Diff line change
`@@ -0,0 +1 @@`
	`1`	+["1.0,o1,o2,{'rcc5': 'dr'}", "1.0,o2,o1,{'rcc5': 'dr'}", "2.0,o1,o2,{'rcc5': 'dr'}", "2.0,o2,o1,{'rcc5': 'dr'}", "3.0,o1,o2,{'rcc5': 'dr'}", "3.0,o2,o1,{'rcc5': 'dr'}", "4.0,o1,o2,{'rcc5': 'dr'}", "4.0,o2,o1,{'rcc5': 'dr'}", "5.0,o1,o2,{'rcc5': 'dr'}", "5.0,o2,o1,{'rcc5': 'dr'}", "6.0,o1,o2,{'rcc5': 'dr'}", "6.0,o2,o1,{'rcc5': 'dr'}", "7.0,o1,o2,{'rcc5': 'dr'}", "7.0,o2,o1,{'rcc5': 'dr'}", "8.0,o1,o2,{'rcc5': 'dr'}", "8.0,o2,o1,{'rcc5': 'dr'}", "9.0,o1,o2,{'rcc5': 'dr'}", "9.0,o2,o1,{'rcc5': 'dr'}", "10.0,o1,o2,{'rcc5': 'dr'}", "10.0,o2,o1,{'rcc5': 'dr'}", "11.0,o1,o2,{'rcc5': 'dr'}", "11.0,o2,o1,{'rcc5': 'dr'}", "12.0,o1,o2,{'rcc5': 'dr'}", "12.0,o2,o1,{'rcc5': 'dr'}", "13.0,o1,o2,{'rcc5': 'dr'}", "13.0,o2,o1,{'rcc5': 'dr'}", "14.0,o1,o2,{'rcc5': 'dr'}", "14.0,o2,o1,{'rcc5': 'dr'}", "15.0,o1,o2,{'rcc5': 'dr'}", "15.0,o2,o1,{'rcc5': 'dr'}", "16.0,o1,o2,{'rcc5': 'dr'}", "16.0,o2,o1,{'rcc5': 'dr'}", "17.0,o1,o2,{'rcc5': 'po'}", "17.0,o2,o1,{'rcc5': 'po'}", "18.0,o1,o2,{'rcc5': 'po'}", "18.0,o2,o1,{'rcc5': 'po'}", "19.0,o1,o2,{'rcc5': 'po'}", "19.0,o2,o1,{'rcc5': 'po'}", "20.0,o1,o2,{'rcc5': 'dr'}", "20.0,o2,o1,{'rcc5': 'dr'}", "21.0,o1,o2,{'rcc5': 'dr'}", "21.0,o2,o1,{'rcc5': 'dr'}", "22.0,o1,o2,{'rcc5': 'dr'}", "22.0,o2,o1,{'rcc5': 'dr'}", "23.0,o1,o2,{'rcc5': 'dr'}", "23.0,o2,o1,{'rcc5': 'dr'}", "24.0,o1,o2,{'rcc5': 'po'}", "24.0,o2,o1,{'rcc5': 'po'}", "25.0,o1,o2,{'rcc5': 'eq'}", "25.0,o2,o1,{'rcc5': 'eq'}", "26.0,o1,o2,{'rcc5': 'po'}", "26.0,o2,o1,{'rcc5': 'po'}", "27.0,o1,o2,{'rcc5': 'dr'}", "27.0,o2,o1,{'rcc5': 'dr'}", "28.0,o1,o2,{'rcc5': 'dr'}", "28.0,o2,o1,{'rcc5': 'dr'}", "29.0,o1,o2,{'rcc5': 'dr'}", "29.0,o2,o1,{'rcc5': 'dr'}", "30.0,o1,o2,{'rcc5': 'dr'}", "30.0,o2,o1,{'rcc5': 'dr'}", "31.0,o1,o2,{'rcc5': 'po'}", "31.0,o2,o1,{'rcc5': 'po'}", "32.0,o1,o2,{'rcc5': 'po'}", "32.0,o2,o1,{'rcc5': 'po'}", "33.0,o1,o2,{'rcc5': 'po'}", "33.0,o2,o1,{'rcc5': 'po'}", "34.0,o1,o2,{'rcc5': 'dr'}", "34.0,o2,o1,{'rcc5': 'dr'}", "35.0,o1,o2,{'rcc5': 'dr'}", "35.0,o2,o1,{'rcc5': 'dr'}", "36.0,o1,o2,{'rcc5': 'dr'}", "36.0,o2,o1,{'rcc5': 'dr'}", "37.0,o1,o2,{'rcc5': 'dr'}", "37.0,o2,o1,{'rcc5': 'dr'}", "38.0,o1,o2,{'rcc5': 'dr'}", "38.0,o2,o1,{'rcc5': 'dr'}", "39.0,o1,o2,{'rcc5': 'dr'}", "39.0,o2,o1,{'rcc5': 'dr'}", "40.0,o1,o2,{'rcc5': 'dr'}", "40.0,o2,o1,{'rcc5': 'dr'}", "41.0,o1,o2,{'rcc5': 'dr'}", "41.0,o2,o1,{'rcc5': 'dr'}", "42.0,o1,o2,{'rcc5': 'dr'}", "42.0,o2,o1,{'rcc5': 'dr'}", "43.0,o1,o2,{'rcc5': 'dr'}", "43.0,o2,o1,{'rcc5': 'dr'}", "44.0,o1,o2,{'rcc5': 'dr'}", "44.0,o2,o1,{'rcc5': 'dr'}", "45.0,o1,o2,{'rcc5': 'dr'}", "45.0,o2,o1,{'rcc5': 'dr'}", "46.0,o1,o2,{'rcc5': 'dr'}", "46.0,o2,o1,{'rcc5': 'dr'}", "47.0,o1,o2,{'rcc5': 'dr'}", "47.0,o2,o1,{'rcc5': 'dr'}", "48.0,o1,o2,{'rcc5': 'dr'}", "48.0,o2,o1,{'rcc5': 'dr'}", "49.0,o1,o2,{'rcc5': 'dr'}", "49.0,o2,o1,{'rcc5': 'dr'}"]
Original file line number	Diff line number	Diff line change
`@@ -0,0 +1 @@`
	`1`	+["1.0,o1,o2,{'rcc5': 'po'}", "1.0,o2,o1,{'rcc5': 'po'}", "2.0,o1,o2,{'rcc5': 'po'}", "2.0,o2,o1,{'rcc5': 'po'}", "3.0,o1,o2,{'rcc5': 'po'}", "3.0,o2,o1,{'rcc5': 'po'}", "4.0,o1,o2,{'rcc5': 'po'}", "4.0,o2,o1,{'rcc5': 'po'}", "5.0,o1,o2,{'rcc5': 'po'}", "5.0,o2,o1,{'rcc5': 'po'}", "6.0,o1,o2,{'rcc5': 'po'}", "6.0,o2,o1,{'rcc5': 'po'}", "7.0,o1,o2,{'rcc5': 'po'}", "7.0,o2,o1,{'rcc5': 'po'}", "8.0,o1,o2,{'rcc5': 'po'}", "8.0,o2,o1,{'rcc5': 'po'}", "9.0,o1,o2,{'rcc5': 'po'}", "9.0,o2,o1,{'rcc5': 'po'}", "10.0,o1,o2,{'rcc5': 'po'}", "10.0,o2,o1,{'rcc5': 'po'}", "11.0,o1,o2,{'rcc5': 'po'}", "11.0,o2,o1,{'rcc5': 'po'}", "12.0,o1,o2,{'rcc5': 'po'}", "12.0,o2,o1,{'rcc5': 'po'}", "13.0,o1,o2,{'rcc5': 'po'}", "13.0,o2,o1,{'rcc5': 'po'}", "14.0,o1,o2,{'rcc5': 'po'}", "14.0,o2,o1,{'rcc5': 'po'}", "15.0,o1,o2,{'rcc5': 'po'}", "15.0,o2,o1,{'rcc5': 'po'}", "16.0,o1,o2,{'rcc5': 'po'}", "16.0,o2,o1,{'rcc5': 'po'}", "17.0,o1,o2,{'rcc5': 'po'}", "17.0,o2,o1,{'rcc5': 'po'}", "18.0,o1,o2,{'rcc5': 'po'}", "18.0,o2,o1,{'rcc5': 'po'}", "19.0,o1,o2,{'rcc5': 'po'}", "19.0,o2,o1,{'rcc5': 'po'}", "20.0,o1,o2,{'rcc5': 'po'}", "20.0,o2,o1,{'rcc5': 'po'}", "21.0,o1,o2,{'rcc5': 'po'}", "21.0,o2,o1,{'rcc5': 'po'}", "22.0,o1,o2,{'rcc5': 'po'}", "22.0,o2,o1,{'rcc5': 'po'}", "23.0,o1,o2,{'rcc5': 'po'}", "23.0,o2,o1,{'rcc5': 'po'}", "24.0,o1,o2,{'rcc5': 'po'}", "24.0,o2,o1,{'rcc5': 'po'}", "25.0,o1,o2,{'rcc5': 'eq'}", "25.0,o2,o1,{'rcc5': 'eq'}", "26.0,o1,o2,{'rcc5': 'po'}", "26.0,o2,o1,{'rcc5': 'po'}", "27.0,o1,o2,{'rcc5': 'po'}", "27.0,o2,o1,{'rcc5': 'po'}", "28.0,o1,o2,{'rcc5': 'po'}", "28.0,o2,o1,{'rcc5': 'po'}", "29.0,o1,o2,{'rcc5': 'po'}", "29.0,o2,o1,{'rcc5': 'po'}", "30.0,o1,o2,{'rcc5': 'po'}", "30.0,o2,o1,{'rcc5': 'po'}", "31.0,o1,o2,{'rcc5': 'po'}", "31.0,o2,o1,{'rcc5': 'po'}", "32.0,o1,o2,{'rcc5': 'po'}", "32.0,o2,o1,{'rcc5': 'po'}", "33.0,o1,o2,{'rcc5': 'po'}", "33.0,o2,o1,{'rcc5': 'po'}", "34.0,o1,o2,{'rcc5': 'po'}", "34.0,o2,o1,{'rcc5': 'po'}", "35.0,o1,o2,{'rcc5': 'po'}", "35.0,o2,o1,{'rcc5': 'po'}", "36.0,o1,o2,{'rcc5': 'po'}", "36.0,o2,o1,{'rcc5': 'po'}", "37.0,o1,o2,{'rcc5': 'po'}", "37.0,o2,o1,{'rcc5': 'po'}", "38.0,o1,o2,{'rcc5': 'po'}", "38.0,o2,o1,{'rcc5': 'po'}", "39.0,o1,o2,{'rcc5': 'po'}", "39.0,o2,o1,{'rcc5': 'po'}", "40.0,o1,o2,{'rcc5': 'po'}", "40.0,o2,o1,{'rcc5': 'po'}", "41.0,o1,o2,{'rcc5': 'po'}", "41.0,o2,o1,{'rcc5': 'po'}", "42.0,o1,o2,{'rcc5': 'po'}", "42.0,o2,o1,{'rcc5': 'po'}", "43.0,o1,o2,{'rcc5': 'po'}", "43.0,o2,o1,{'rcc5': 'po'}", "44.0,o1,o2,{'rcc5': 'po'}", "44.0,o2,o1,{'rcc5': 'po'}", "45.0,o1,o2,{'rcc5': 'po'}", "45.0,o2,o1,{'rcc5': 'po'}", "46.0,o1,o2,{'rcc5': 'po'}", "46.0,o2,o1,{'rcc5': 'po'}", "47.0,o1,o2,{'rcc5': 'po'}", "47.0,o2,o1,{'rcc5': 'po'}", "48.0,o1,o2,{'rcc5': 'po'}", "48.0,o2,o1,{'rcc5': 'po'}", "49.0,o1,o2,{'rcc5': 'po'}", "49.0,o2,o1,{'rcc5': 'po'}"]
Original file line number	Diff line number	Diff line change
`@@ -0,0 +1 @@`
	`1`	+["1.0,o2,o1,{'rcc5': 'dr'}", "2.0,o2,o1,{'rcc5': 'dr'}", "3.0,o2,o1,{'rcc5': 'dr'}", "4.0,o2,o1,{'rcc5': 'dr'}", "5.0,o2,o1,{'rcc5': 'dr'}", "6.0,o2,o1,{'rcc5': 'dr'}", "7.0,o2,o1,{'rcc5': 'dr'}", "8.0,o2,o1,{'rcc5': 'dr'}", "9.0,o2,o1,{'rcc5': 'dr'}", "10.0,o2,o1,{'rcc5': 'dr'}", "11.0,o2,o1,{'rcc5': 'dr'}", "12.0,o2,o1,{'rcc5': 'dr'}", "13.0,o2,o1,{'rcc5': 'dr'}", "14.0,o2,o1,{'rcc5': 'dr'}", "15.0,o2,o1,{'rcc5': 'dr'}", "16.0,o2,o1,{'rcc5': 'dr'}", "17.0,o2,o1,{'rcc5': 'po'}", "18.0,o2,o1,{'rcc5': 'po'}", "19.0,o2,o1,{'rcc5': 'po'}", "20.0,o2,o1,{'rcc5': 'dr'}", "21.0,o2,o1,{'rcc5': 'dr'}", "22.0,o2,o1,{'rcc5': 'dr'}", "23.0,o2,o1,{'rcc5': 'dr'}", "24.0,o2,o1,{'rcc5': 'po'}", "25.0,o2,o1,{'rcc5': 'eq'}", "26.0,o2,o1,{'rcc5': 'po'}", "27.0,o2,o1,{'rcc5': 'dr'}", "28.0,o2,o1,{'rcc5': 'dr'}", "29.0,o2,o1,{'rcc5': 'dr'}", "30.0,o2,o1,{'rcc5': 'dr'}", "31.0,o2,o1,{'rcc5': 'po'}", "32.0,o2,o1,{'rcc5': 'po'}", "33.0,o2,o1,{'rcc5': 'po'}", "34.0,o2,o1,{'rcc5': 'dr'}", "35.0,o2,o1,{'rcc5': 'dr'}", "36.0,o2,o1,{'rcc5': 'dr'}", "37.0,o2,o1,{'rcc5': 'dr'}", "38.0,o2,o1,{'rcc5': 'dr'}", "39.0,o2,o1,{'rcc5': 'dr'}", "40.0,o2,o1,{'rcc5': 'dr'}", "41.0,o2,o1,{'rcc5': 'dr'}", "42.0,o2,o1,{'rcc5': 'dr'}", "43.0,o2,o1,{'rcc5': 'dr'}", "44.0,o2,o1,{'rcc5': 'dr'}", "45.0,o2,o1,{'rcc5': 'dr'}", "46.0,o2,o1,{'rcc5': 'dr'}", "47.0,o2,o1,{'rcc5': 'dr'}", "48.0,o2,o1,{'rcc5': 'dr'}", "49.0,o2,o1,{'rcc5': 'dr'}"]
Original file line number	Diff line number	Diff line change
`@@ -0,0 +1 @@`
	`1`	+["1.0,o1,o2,{'rcc5': 'dr'}", "2.0,o1,o2,{'rcc5': 'dr'}", "3.0,o1,o2,{'rcc5': 'dr'}", "4.0,o1,o2,{'rcc5': 'dr'}", "5.0,o1,o2,{'rcc5': 'dr'}", "6.0,o1,o2,{'rcc5': 'dr'}", "7.0,o1,o2,{'rcc5': 'dr'}", "8.0,o1,o2,{'rcc5': 'dr'}", "9.0,o1,o2,{'rcc5': 'dr'}", "10.0,o1,o2,{'rcc5': 'dr'}", "11.0,o1,o2,{'rcc5': 'dr'}", "12.0,o1,o2,{'rcc5': 'dr'}", "13.0,o1,o2,{'rcc5': 'dr'}", "14.0,o1,o2,{'rcc5': 'dr'}", "15.0,o1,o2,{'rcc5': 'dr'}", "16.0,o1,o2,{'rcc5': 'dr'}", "17.0,o1,o2,{'rcc5': 'po'}", "18.0,o1,o2,{'rcc5': 'po'}", "19.0,o1,o2,{'rcc5': 'po'}", "20.0,o1,o2,{'rcc5': 'dr'}", "21.0,o1,o2,{'rcc5': 'dr'}", "22.0,o1,o2,{'rcc5': 'dr'}", "23.0,o1,o2,{'rcc5': 'dr'}", "24.0,o1,o2,{'rcc5': 'po'}", "25.0,o1,o2,{'rcc5': 'eq'}", "26.0,o1,o2,{'rcc5': 'po'}", "27.0,o1,o2,{'rcc5': 'dr'}", "28.0,o1,o2,{'rcc5': 'dr'}", "29.0,o1,o2,{'rcc5': 'dr'}", "30.0,o1,o2,{'rcc5': 'dr'}", "31.0,o1,o2,{'rcc5': 'po'}", "32.0,o1,o2,{'rcc5': 'po'}", "33.0,o1,o2,{'rcc5': 'po'}", "34.0,o1,o2,{'rcc5': 'dr'}", "35.0,o1,o2,{'rcc5': 'dr'}", "36.0,o1,o2,{'rcc5': 'dr'}", "37.0,o1,o2,{'rcc5': 'dr'}", "38.0,o1,o2,{'rcc5': 'dr'}", "39.0,o1,o2,{'rcc5': 'dr'}", "40.0,o1,o2,{'rcc5': 'dr'}", "41.0,o1,o2,{'rcc5': 'dr'}", "42.0,o1,o2,{'rcc5': 'dr'}", "43.0,o1,o2,{'rcc5': 'dr'}", "44.0,o1,o2,{'rcc5': 'dr'}", "45.0,o1,o2,{'rcc5': 'dr'}", "46.0,o1,o2,{'rcc5': 'dr'}", "47.0,o1,o2,{'rcc5': 'dr'}", "48.0,o1,o2,{'rcc5': 'dr'}", "49.0,o1,o2,{'rcc5': 'dr'}"]