[Tests][Python] add python unittest for curve_constraints

python/CMakeLists.txt

@@ -11,3 +11,4 @@ ADD_PYTHON_UNIT_TEST("python-minjerk" "python/test/test-minjerk.py" "python")
 ADD_PYTHON_UNIT_TEST("python-optimization" "python/test/optimization.py" "python")
 ADD_PYTHON_UNIT_TEST("python-notebook" "python/test/notebook.py" "python")
 ADD_PYTHON_UNIT_TEST("python-registration" "python/test/registration.py" "python")
+ADD_PYTHON_UNIT_TEST("python-curve-constraints" "python/test/test-curve-constraints.py" "python")

python/test/test-curve-constraints.py

+# Copyright (c) 2020, CNRS
+# Authors: Pierre Fernbach <pfernbac@laas.fr>
+
+import unittest
+import curves
+from curves import curve_constraints
+import numpy as np
+import pickle
+from numpy import array, isclose, array_equal
+
+
+class CurveConstraintsTest(unittest.TestCase):
+    def test_operator_equal(self):
+        c = curve_constraints(3)
+        c.init_vel = array([[0., 1., 1.]]).transpose()
+        c.end_vel = array([[0., -1., 1.]]).transpose()
+        c.init_acc = array([[0., 1., -1.]]).transpose()
+        c.end_acc = array([[0., 100., 1.]]).transpose()
+        c.init_jerk = array([[2., 4., 1.]]).transpose()
+        c.end_jerk = array([[-1., 2., 7.]]).transpose()
+
+        c2 = curve_constraints(3)
+        c2.init_vel = array([[0., 1., 1.]]).transpose()
+        c2.end_vel = array([[0., -1., 1.]]).transpose()
+        c2.init_acc = array([[0., 1., -1.]]).transpose()
+        c2.end_acc = array([[0., 100., 1.]]).transpose()
+        c2.init_jerk = array([[2., 4., 1.]]).transpose()
+        c2.end_jerk = array([[-1., 2., 7.]]).transpose()
+        self.assertTrue(c == c2)
+        c2.init_vel = array([[1., 1., 1.]]).transpose()
+        self.assertTrue(c != c2)
+    
+    def test_serialization(self):
+        c = curve_constraints(3)
+        c.init_vel = array([[0., 1., 1.]]).transpose()
+        c.end_vel = array([[0., -1., 1.]]).transpose()
+        c.init_acc = array([[0., 1., -1.]]).transpose()
+        c.end_acc = array([[0., 100., 1.]]).transpose()
+        c.init_jerk = array([[2., 4., 1.]]).transpose()
+        c.end_jerk = array([[-1., 2., 7.]]).transpose()
+
+        c.saveAsText("curve_constraints.txt")
+        c.saveAsXML("curve_constraints.xml", "curve_constraints")
+        c.saveAsBinary("curve_constraints")
+
+        c_txt = curve_constraints()
+        c_txt.loadFromText("curve_constraints.txt")
+        self.assertEqual(c, c_txt)
+
+        c_xml = curve_constraints()
+        c_xml.loadFromXML("curve_constraints.xml", "curve_constraints")
+        self.assertEqual(c, c_xml)
+
+        c_bin = curve_constraints()
+        c_bin.loadFromBinary("curve_constraints")
+        self.assertEqual(c, c_bin)
+        
+        c_pickled = pickle.dumps(c)
+        c_from_pickle = pickle.loads(c_pickled)
+        self.assertEqual(c_from_pickle, c)
+
+
+if __name__ == '__main__':
+    unittest.main()