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This is an archived project. Repository and other project resources are read-only.
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Humanoid Path Planner
hpp-spline
Commits
6616a103
Commit
6616a103
authored
5 years ago
by
Guilhem Saurel
Browse files
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[Python][Test] use numpy.testin.assert_allclose
And also check that AssertionErrors are not silenced
parent
1e56dc47
Branches
devel
master
Branches containing commit
Tags
v1.2.1
No related merge requests found
Changes
1
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1 changed file
python/test/test.py
+18
-15
18 additions, 15 deletions
python/test/test.py
with
18 additions
and
15 deletions
python/test/test.py
+
18
−
15
View file @
6616a103
...
...
@@ -4,6 +4,7 @@ import unittest
from
numpy
import
matrix
from
numpy.linalg
import
norm
from
numpy.testing
import
assert_allclose
from
hpp_spline
import
bezier
,
bezier6
,
curve_constraints
,
exact_cubic
,
from_bezier
,
polynom
,
spline_deriv_constraint
...
...
@@ -22,7 +23,7 @@ class TestSpline(unittest.TestCase):
a
.
min
()
a
.
max
()
a
(
0.4
)
self
.
assert
True
(
(
a
.
derivate
(
0.4
,
0
)
==
a
(
0.4
))
.
all
())
assert
_allclose
(
a
.
derivate
(
0.4
,
0
)
,
a
(
0.4
))
a
.
derivate
(
0.4
,
2
)
a
=
a
.
compute_derivate
(
100
)
...
...
@@ -30,14 +31,14 @@ class TestSpline(unittest.TestCase):
for
i
in
range
(
10
):
t
=
float
(
i
)
/
10.
self
.
assert
True
(
(
a
(
t
)
==
prim
.
derivate
(
t
,
1
))
.
all
())
self
.
assert
True
(
(
prim
(
0
)
==
matrix
([
0.
,
0.
,
0.
])
).
all
()
)
assert
_allclose
(
a
(
t
)
,
prim
.
derivate
(
t
,
1
))
assert
_allclose
(
prim
(
0
)
,
matrix
([
0.
,
0.
,
0.
])
.
T
)
prim
=
a
.
compute_primitive
(
2
)
for
i
in
range
(
10
):
t
=
float
(
i
)
/
10.
self
.
assert
True
(
(
a
(
t
)
==
prim
.
derivate
(
t
,
2
))
.
all
())
self
.
assert
True
(
(
prim
(
0
)
==
matrix
([
0.
,
0.
,
0.
])
).
all
()
)
assert
_allclose
(
a
(
t
)
,
prim
.
derivate
(
t
,
2
))
assert
_allclose
(
prim
(
0
)
,
matrix
([
0.
,
0.
,
0.
])
.
T
)
waypoints
=
matrix
([[
1.
,
2.
,
3.
],
[
4.
,
5.
,
6.
],
[
4.
,
5.
,
6.
],
[
4.
,
5.
,
6.
],
[
4.
,
5.
,
6.
]]).
T
a0
=
bezier
(
waypoints
)
...
...
@@ -47,11 +48,13 @@ class TestSpline(unittest.TestCase):
for
i
in
range
(
10
):
t
=
float
(
i
)
/
10.
self
.
assertAlmostEqual
(
norm
(
a0
(
t
)
-
a1
(
3
*
t
)),
0
)
self
.
assertAlmostEqual
(
norm
(
a0
.
derivate
(
t
,
1
)
-
a1
.
derivate
(
3
*
t
,
1
)
*
3.
),
0
)
self
.
assertAlmostEqual
(
norm
(
a0
.
derivate
(
t
,
2
)
-
a1
.
derivate
(
3
*
t
,
2
)
*
9.
),
0
)
self
.
assertAlmostEqual
(
norm
(
prim0
(
t
)
-
prim1
(
t
*
3
)
/
3.
),
0
)
self
.
assertTrue
((
prim
(
0
)
==
matrix
([
0.
,
0.
,
0.
]).
T
).
all
())
assert_allclose
(
a0
(
t
),
a1
(
3
*
t
))
assert_allclose
(
a0
.
derivate
(
t
,
1
),
a1
.
derivate
(
3
*
t
,
1
)
*
3.
)
assert_allclose
(
a0
.
derivate
(
t
,
2
),
a1
.
derivate
(
3
*
t
,
2
)
*
9.
)
assert_allclose
(
prim0
(
t
),
prim1
(
t
*
3
)
/
3.
)
assert_allclose
(
prim
(
0
),
matrix
([
0.
,
0.
,
0.
]).
T
)
with
self
.
assertRaises
(
AssertionError
):
assert_allclose
(
prim
(
0
),
matrix
([
0.
,
0.
,
0.
]))
# testing bezier with constraints
c
=
curve_constraints
()
...
...
@@ -62,8 +65,8 @@ class TestSpline(unittest.TestCase):
waypoints
=
matrix
([[
1.
,
2.
,
3.
],
[
4.
,
5.
,
6.
]]).
T
a
=
bezier
(
waypoints
,
c
)
self
.
assert
AlmostEqual
(
norm
(
a
.
derivate
(
0
,
1
)
-
c
.
init_vel
)
,
0
)
self
.
assert
AlmostEqual
(
norm
(
a
.
derivate
(
1
,
2
)
-
c
.
end_acc
)
,
0
)
assert
_allclose
(
a
.
derivate
(
0
,
1
)
,
c
.
init_vel
)
assert
_allclose
(
a
.
derivate
(
1
,
2
)
,
c
.
end_acc
)
# testing polynom function
a
=
polynom
(
waypoints
)
...
...
@@ -71,7 +74,7 @@ class TestSpline(unittest.TestCase):
a
.
min
()
a
.
max
()
a
(
0.4
)
self
.
assert
True
(
(
a
.
derivate
(
0.4
,
0
)
==
a
(
0.4
))
.
all
())
assert
_allclose
(
a
.
derivate
(
0.4
,
0
)
,
a
(
0.4
))
a
.
derivate
(
0.4
,
2
)
# testing exact_cubic function
...
...
@@ -79,7 +82,7 @@ class TestSpline(unittest.TestCase):
a
.
min
()
a
.
max
()
a
(
0.4
)
self
.
assert
True
(
(
a
.
derivate
(
0.4
,
0
)
==
a
(
0.4
))
.
all
())
assert
_allclose
(
a
.
derivate
(
0.4
,
0
)
,
a
(
0.4
))
a
.
derivate
(
0.4
,
2
)
# testing spline_deriv_constraints
...
...
@@ -101,7 +104,7 @@ class TestSpline(unittest.TestCase):
a
=
bezier
(
waypoints
)
a_pol
=
from_bezier
(
a
)
self
.
assert
AlmostEqual
(
norm
(
a
(
0.3
)
-
a_pol
(
0.3
))
,
0
)
assert
_allclose
(
a
(
0.3
)
,
a_pol
(
0.3
))
if
__name__
==
'
__main__
'
:
...
...
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