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Guilhem Saurel
ndcurves
Commits
3b56b868
Commit
3b56b868
authored
Oct 19, 2020
by
Pierre Fernbach
Browse files
[Tests][Python] add python unittest for curve_constraints
parent
11fd64fb
Changes
2
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Inline
Side-by-side
python/CMakeLists.txt
View file @
3b56b868
...
...
@@ -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
0 → 100644
View file @
3b56b868
# 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
()
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