Format and update unittests for Gait

tests/python/testGait.py

@@ -13,7 +13,6 @@ np.set_printoptions(precision=6, linewidth=300)
 
 
 class TestGait(unittest.TestCase):
-
     def setUp(self):
 
         # Object that holds all controller parameters
@@ -24,12 +23,24 @@ class TestGait(unittest.TestCase):
         self.params.dt_mpc = 0.02
         self.k_mpc = int(self.params.dt_mpc / self.params.dt_wbc)
         self.params.N_SIMULATION = 1000
-        q_init = [0.0, 0.764, -1.407, 0.0, 0.76407, -1.4, 0.0, 0.76407, -1.407, 0.0, 0.764, -1.407]
+        q_init = [
+            0.0,
+            0.764,
+            -1.407,
+            0.0,
+            0.76407,
+            -1.4,
+            0.0,
+            0.76407,
+            -1.407,
+            0.0,
+            0.764,
+            -1.407,
+        ]
         for i in range(len(q_init)):
             self.params.q_init[i] = q_init[i]
         self.params.N_periods = 1
-        gait = [12, 1, 0, 0, 1,
-                12, 0, 1, 1, 0]
+        gait = [12, 1, 0, 0, 1, 12, 0, 1, 1, 0]
         for i in range(len(gait)):
             self.params.gait_vec[i] = gait[i]
 
@@ -54,9 +65,16 @@ class TestGait(unittest.TestCase):
         pgait = self.params.gait.copy()
 
         # Check initial state
-        self.assertTrue(np.allclose(np.flip(pgait, axis=0), self.gait.getPastGait()), "Initial past gait is OK")
-        self.assertTrue(np.allclose(pgait, self.gait.getCurrentGait()), "Initial current gait is OK")
-        self.assertTrue(np.allclose(pgait, self.gait.getDesiredGait()), "Initial desired gait is OK")
+        self.assertTrue(
+            np.allclose(pgait, self.gait.get_past_gait()), "Initial past gait is OK"
+        )
+        self.assertTrue(
+            np.allclose(pgait, self.gait.matrix), "Initial current gait is OK"
+        )
+        self.assertTrue(
+            np.allclose(pgait, self.gait.get_desired_gait()),
+            "Initial desired gait is OK",
+        )
 
     def test_roll(self):
         """Check if roll is properly applied with a transfer from desired gait to current gait and from
@@ -66,29 +84,49 @@ class TestGait(unittest.TestCase):
         o_pgait = np.round(np.random.random(self.params.gait.shape))
         o_cgait = np.round(np.random.random(self.params.gait.shape))
         o_dgait = np.round(np.random.random(self.params.gait.shape))
-        self.gait.setPastGait(o_pgait)
-        self.gait.setCurrentGait(o_cgait)
-        self.gait.setDesiredGait(o_dgait)
+        self.gait.set_past_gait(o_pgait)
+        self.gait.set_current_gait(o_cgait)
+        self.gait.set_desired_gait(o_dgait)
 
         # Check that set functions are working
-        self.assertTrue(np.allclose(o_pgait, self.gait.getPastGait()), "setPastGait is OK")
-        self.assertTrue(np.allclose(o_cgait, self.gait.getCurrentGait()), "setCurrentGait is OK")
-        self.assertTrue(np.allclose(o_dgait, self.gait.getDesiredGait()), "setDesiredGait is OK")
+        self.assertTrue(
+            np.allclose(o_pgait, self.gait.get_past_gait()), "set_past_gait is OK"
+        )
+        self.assertTrue(
+            np.allclose(o_cgait, self.gait.matrix), "set_current_gait is OK"
+        )
+        self.assertTrue(
+            np.allclose(o_dgait, self.gait.get_desired_gait()), "set_desired_gait is OK"
+        )
 
         # Oldify
         for i in range(12 * self.k_mpc + 1):
-            self.gait.updateGait(i, self.k_mpc, 0)
+            self.gait.update(i, 0)
 
         # Check new values in gait matrices
-        pgait = self.gait.getPastGait()
-        cgait = self.gait.getCurrentGait()
-        dgait = self.gait.getDesiredGait()
-        self.assertTrue(np.allclose(np.flip(o_cgait[:12, :], axis=0), pgait[:12, :]), "First half past gait is OK")
-        self.assertTrue(np.allclose(o_pgait[:12, :], pgait[12:, :]), "Second half past gait is OK")
-        self.assertTrue(np.allclose(o_cgait[12:, :], cgait[:12, :]), "First half current gait is OK")
-        self.assertTrue(np.allclose(o_dgait[:12, :], cgait[12:, :]), "Second half current gait is OK")
-        self.assertTrue(np.allclose(o_dgait[12:, :], dgait[:12, :]), "First half desired gait is OK")
-        self.assertTrue(np.allclose(o_dgait[:12, :], dgait[12:, :]), "Second half desired gait is OK")
+        pgait = self.gait.get_past_gait()
+        cgait = self.gait.matrix
+        dgait = self.gait.get_desired_gait()
+        self.assertTrue(
+            np.allclose(o_pgait[12:, :], pgait[:12, :]), "First half past gait is OK"
+        )
+        self.assertTrue(
+            np.allclose(o_cgait[:12, :], pgait[12:, :]), "Second half past gait is OK"
+        )
+        self.assertTrue(
+            np.allclose(o_cgait[12:, :], cgait[:12, :]), "First half current gait is OK"
+        )
+        self.assertTrue(
+            np.allclose(o_dgait[:12, :], cgait[12:, :]),
+            "Second half current gait is OK",
+        )
+        self.assertTrue(
+            np.allclose(o_dgait[12:, :], dgait[:12, :]), "First half desired gait is OK"
+        )
+        self.assertTrue(
+            np.allclose(o_dgait[:12, :], dgait[12:, :]),
+            "Second half desired gait is OK",
+        )
 
     def test_phase_duration(self):
         """
@@ -98,18 +136,27 @@ class TestGait(unittest.TestCase):
         """
 
         for i in range(16 * self.k_mpc):
-            self.gait.updateGait(i, self.k_mpc, 0)
+            self.gait.update(i, 0)
 
-        cgait = self.gait.getCurrentGait()
+        cgait = self.gait.matrix
 
         for i in range(cgait.shape[0]):
             for j in range(4):
-                self.assertTrue(0.24 == self.gait.getPhaseDuration(i, j, cgait[i, j]), "phaseDuration is OK")
-                self.assertTrue(12 - (i - 9) % 12 == self.gait.getRemainingTime(), "remainingTime is OK")
+                self.assertTrue(
+                    np.allclose(
+                        self.params.T_gait * 0.5, self.gait.get_phase_duration(i, j)
+                    ),
+                    "phaseDuration is OK",
+                )
+                self.assertTrue(
+                    self.params.dt_mpc * (12 - (i - 9) % 12)
+                    == self.gait.get_remaining_time(i, j),
+                    "remainingTime is OK",
+                )
 
     def test_upper(self):
-        self.assertEqual('foo'.upper(), 'FOO')
+        self.assertEqual("foo".upper(), "FOO")
 
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     unittest.main()