Commit c3fe7e60 authored by Pierre Fernbach's avatar Pierre Fernbach

[Tests] update tests for changes of commit 58c0e1a9

parent 77bfb202
......@@ -4,7 +4,7 @@ from hpp.corbaserver.rbprm.scenarios.talos_path_planner import TalosPathPlanner
class PathPlanner(TalosPathPlanner):
def init_problem(self):
self.a_max = 0.05
self.a_max = 0.1
super().init_problem()
# greatly increase the number of loops of the random shortcut
self.ps.setParameter("PathOptimization/RandomShortcut/NumberOfLoops", 50)
......
......@@ -19,12 +19,11 @@ class TestTalosWalkPath(unittest.TestCase):
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)))
self.assertEqual(ps.numberPaths(), 1)
self.assertTrue(ps.pathLength(0) > 6.)
self.assertTrue(ps.pathLength(0) < 7.)
self.assertEqual(planner.q_init, ps.configAtParam(0, 0))
self.assertEqual(planner.q_goal, ps.configAtParam(0, ps.pathLength(0)))
if __name__ == '__main__':
......
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