[Tests][Python] add unit test for guide & contact for talos

CMakeLists.txt

@@ -72,5 +72,6 @@ endif()
 
 PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
 ADD_SUBDIRECTORY(src)
+ADD_SUBDIRECTORY(tests)
 
 CONFIG_FILES (include/${CUSTOM_HEADER_DIR}/doc.hh)

tests/CMakeLists.txt

+ADD_SUBDIRECTORY(python)

tests/python/CMakeLists.txt

+SET(${PROJECT_NAME}_PYTHON_TESTS
+  test_talos_walk_contacts
+  test_talos_walk_path
+  )
+
+FOREACH(TEST ${${PROJECT_NAME}_PYTHON_TESTS})
+  ADD_PYTHON_UNIT_TEST("py-${TEST}" "tests/python/${TEST}.py")
+ENDFOREACH(TEST ${${PROJECT_NAME}_PYTHON_TESTS})

tests/python/test_talos.py

-# Copyright (c) 20120, CNRS
-# Authors: Pierre Fernbach <pfernbac@laas.fr>
-

tests/python/test_talos_walk_contacts.py

+# Copyright (c) 2020, CNRS
+# Authors: Pierre Fernbach <pfernbac@laas.fr>
+import subprocess
+from importlib import import_module
+import os
+import unittest
+import time
+
+PATH = "hpp.corbaserver.rbprm.scenarios.demos"
+
+
+class TestTalosWalkContact(unittest.TestCase):
+
+    def test_talos_walk_contacts(self):
+        subprocess.run(["killall", "hpp-rbprm-server"])
+        process = subprocess.Popen("hpp-rbprm-server")
+        time.sleep(3)
+        module_scenario = import_module(PATH+".talos_flatGround")
+        if not hasattr(module_scenario, 'ContactGenerator'):
+            self.assertTrue(False)
+        ContactGenerator = getattr(module_scenario, 'ContactGenerator')
+        cg = ContactGenerator()
+        cg.run()
+        self.assertTrue(len(cg.configs) > 5)
+        self.assertTrue(len(cg.configs) < 10)
+        self.assertEqual(cg.q_init, cg.configs[0])
+        self.assertEqual(cg.q_goal, cg.configs[-1])
+        process.kill()
+
+
+if __name__ == '__main__':
+    unittest.main()

tests/python/test_talos_walk_path.py

+# Copyright (c) 2020, CNRS
+# Authors: Pierre Fernbach <pfernbac@laas.fr>
+import subprocess
+from importlib import import_module
+import os
+import unittest
+import time
+
+PATH = "hpp.corbaserver.rbprm.scenarios.demos"
+
+
+class TestTalosWalkPath(unittest.TestCase):
+
+    def test_talos_walk_path(self):
+        subprocess.run(["killall", "hpp-rbprm-server"])
+        process = subprocess.Popen("hpp-rbprm-server")
+        time.sleep(3)
+        module_scenario = import_module(PATH+".talos_flatGround_path")
+        if not hasattr(module_scenario, 'PathPlanner'):
+            self.assertTrue(False)
+        PathPlanner = getattr(module_scenario, 'PathPlanner')
+        planner = PathPlanner()
+        planner.run()
+        ps = planner.ps
+        self.assertEqual(ps.numberPaths(), 2)
+        self.assertEqual(ps.pathLength(0), ps.pathLength(1))
+        self.assertTrue(ps.pathLength(1) > 6.)
+        self.assertTrue(ps.pathLength(1) < 7.)
+        self.assertEqual(planner.q_init, ps.configAtParam(1,0))
+        self.assertEqual(planner.q_goal, ps.configAtParam(1, ps.pathLength(1)))
+        process.kill()
+
+
+
+if __name__ == '__main__':
+    unittest.main()