text: '''
  Test import data saved with Polulu-sensors, through subclassing "IMU_Base"
  '''
  
  '''
  Author: Thomas Haslwanter
  '''
  
  import sys
  import os
  myPath = os.path.dirname(os.path.abspath(__file__))
  sys.path.insert(0, os.path.join(myPath, '..'))
  
  import unittest
  from skinematics import imus
  from time import sleep
  from sensors.polulu import Polulu
  
  class TestSequenceFunctions(unittest.TestCase):
      
      def test_import_polulu(self):
          # Get data, with a specified input from a Polulu system
          in_data = {'rate':125}
          in_file = os.path.join(myPath, 'data', 'data_polulu.txt')
          sensor = Polulu(in_file=in_file, in_data = in_data, q_type=None)
          
          rate = sensor.rate
          acc = sensor.acc
          omega = sensor.omega
          
          self.assertAlmostEqual((rate - 125), 0)
          self.assertAlmostEqual( (omega[0,2] + 0.02596177), 0)
          
  if __name__ == '__main__':
      unittest.main()
      print('Done')
      sleep(2)
  