Commit 1809cf16 authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

Merge branch 'master' into devel

parents 0b93e3c0 3a39a6b3
Pipeline #16425 failed with stage
in 54 seconds
Subproject commit 3a52692a40839b10f38352c1b06ccfebc0b53f36
Subproject commit ee7a773c5c23f83dd21eb0ccfa96277e068b0456
<?xml version='1.0'?>
<package format='2'>
<name>hpp-rbprm-corba</name>
<version>4.11.0</version>
<version>4.12.0</version>
<description>RB-PRM planner for HPP</description>
<maintainer email='guilhem.saurel@laas.fr'>Guilhem Saurel</maintainer>
......
......@@ -30,7 +30,7 @@ class Client(_Parent):
'builder': RbprmBuilder,
}
def __init__(self, url=None, context="corbaserver", port=13331):
def __init__(self, url=None, context="corbaserver", port=None):
"""
Initialize CORBA and create default clients.
:param url: URL in the IOR, corbaloc, corbalocs, and corbanames formats.
......
......@@ -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.assertTrue(len(cg.configs) > 5)
self.assertTrue(len(cg.configs) < 10)
self.assertGreater(len(cg.configs), 5)
self.assertLess(len(cg.configs), 10)
self.assertEqual(cg.q_init, cg.configs[0])
self.assertEqual(cg.q_goal, cg.configs[-1])
......
......@@ -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.assertTrue(ps.pathLength(0) > 6.)
self.assertTrue(ps.pathLength(0) < 7.)
self.assertGreater(ps.pathLength(0), 6.)
self.assertLess(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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