Travis: run test script.

.travis.yml

@@ -27,6 +27,7 @@ addons:
       - liblog4cxx10-dev
       - python2.7-dev
       - doxygen-latex
+      - python-numpy
 before_install:
 - git submodule update --init --recursive
 - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
@@ -35,4 +36,4 @@ before_install:
 - sudo apt-get install -qq liburdfdom-dev libassimp-dev ros-indigo-catkin ros-indigo-xacro ros-indigo-kdl-parser ros-indigo-common-msgs ros-indigo-tf ros-indigo-tf-conversions ros-indigo-libccd ros-indigo-octomap ros-indigo-resource-retriever ros-indigo-srdfdom ros-indigo-pr2-robot libomniorb4-dev omniorb-nameserver omniidl omniidl-python
 
 script: ./.travis/build
-# after_script: ./.travis/run
+after_script: ./.travis/run

.travis/run

@@ -6,10 +6,15 @@ root_dir=`pwd`
 build_dir="$root_dir/_travis/build"
 install_dir="$root_dir/_travis/install"
 
-export DEVEL_DIR=$install_dir
+export DEVEL_DIR="$root_dir/_travis"
 # wget -O $DEVEL_DIR/config.sh https://raw.githubusercontent.com/humanoid-path-planner/hpp-doc/master/doc/config.sh
 source $DEVEL_DIR/config.sh
 
+ps -C omniNames
+
 hppcorbaserver &
+pidhpp=$!
+
+python $root_dir/.travis/script.py
 
-python $build_dir/.travis/script.py
+kill $!

.travis/script.py

@@ -5,8 +5,8 @@ robot.setJointBounds ("base_joint_xy", [-4, -3, -5, -3])
 from hpp.corbaserver import ProblemSolver
 ps = ProblemSolver (robot)
 
-from hpp.gepetto import Viewer
-r = Viewer (ps)
+from hpp.gepetto import ViewerFactory
+r = ViewerFactory (ps)
 
 q_init = robot.getCurrentConfig ()
 q_goal = q_init [::]
@@ -31,6 +31,8 @@ r.loadObstacleModel ("iai_maps", "kitchen_area", "kitchen")
 ps.setInitialConfig (q_init)
 ps.addGoalConfig (q_goal)
 
+print ps.solve ()
+
 ps.addPathOptimizer ("RandomShortcut")
 
-ps.solve ()
+print ps.optimizePath (0)