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Humanoid Path Planner
hpp-rbprm-corba
Commits
692526bf
Commit
692526bf
authored
Oct 04, 2021
by
Guilhem Saurel
Browse files
test details
parent
7a87520a
Pipeline
#16251
failed with stage
in 1 minute and 34 seconds
Changes
2
Pipelines
1
Hide whitespace changes
Inline
Side-by-side
tests/python/test_talos_walk_contacts.py
View file @
692526bf
...
...
@@ -12,13 +12,12 @@ class TestTalosWalkContact(unittest.TestCase):
def
test_talos_walk_contacts
(
self
):
with
ServerManager
(
'hpp-rbprm-server'
):
module_scenario
=
import_module
(
PATH
+
".talos_flatGround"
)
if
not
hasattr
(
module_scenario
,
'ContactGenerator'
):
self
.
assertTrue
(
False
)
self
.
assertTrue
(
hasattr
(
module_scenario
,
'ContactGenerator'
))
ContactGenerator
=
getattr
(
module_scenario
,
'ContactGenerator'
)
cg
=
ContactGenerator
()
cg
.
run
()
self
.
assert
True
(
len
(
cg
.
configs
)
>
5
)
self
.
assert
True
(
len
(
cg
.
configs
)
<
10
)
self
.
assert
Greater
(
len
(
cg
.
configs
)
,
5
)
self
.
assert
Less
(
len
(
cg
.
configs
)
,
10
)
self
.
assertEqual
(
cg
.
q_init
,
cg
.
configs
[
0
])
self
.
assertEqual
(
cg
.
q_goal
,
cg
.
configs
[
-
1
])
...
...
tests/python/test_talos_walk_path.py
View file @
692526bf
...
...
@@ -13,15 +13,14 @@ class TestTalosWalkPath(unittest.TestCase):
def
test_talos_walk_path
(
self
):
with
ServerManager
(
'hpp-rbprm-server'
):
module_scenario
=
import_module
(
PATH
+
".talos_flatGround_path"
)
if
not
hasattr
(
module_scenario
,
'PathPlanner'
):
self
.
assertTrue
(
False
)
self
.
assertTrue
(
hasattr
(
module_scenario
,
'PathPlanner'
))
PathPlanner
=
getattr
(
module_scenario
,
'PathPlanner'
)
planner
=
PathPlanner
()
planner
.
run
()
ps
=
planner
.
ps
self
.
assertEqual
(
ps
.
numberPaths
(),
1
)
self
.
assert
True
(
ps
.
pathLength
(
0
)
>
6.
)
self
.
assert
True
(
ps
.
pathLength
(
0
)
<
7.
)
self
.
assert
Greater
(
ps
.
pathLength
(
0
)
,
6.
)
self
.
assert
Less
(
ps
.
pathLength
(
0
)
,
7.
)
self
.
assertEqual
(
planner
.
q_init
,
ps
.
configAtParam
(
0
,
0
))
self
.
assertEqual
(
planner
.
q_goal
,
ps
.
configAtParam
(
0
,
ps
.
pathLength
(
0
)))
...
...
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