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loco-3d
Multicontact-api
Commits
cb7fa82e
Commit
cb7fa82e
authored
Feb 14, 2020
by
Pierre Fernbach
Browse files
[Tests][Python] minor changes in handling of PATH in serialization_examples
parent
3a8336ec
Changes
1
Hide whitespace changes
Inline
Side-by-side
unittest/python/serialization_examples.py
View file @
cb7fa82e
...
...
@@ -13,7 +13,7 @@ from multicontact_api import ContactSequence
pin
.
switchToNumpyArray
()
PATH
=
str
(
pathlib
.
Path
(
__file__
).
parent
.
parent
.
parent
.
absolute
())
+
"/examples/"
PATH
=
(
pathlib
.
Path
(
__file__
).
parent
.
parent
.
parent
/
'examples'
).
absolute
()
print
(
"PATH : "
,
PATH
)
...
...
@@ -106,7 +106,7 @@ class ExamplesSerialization(unittest.TestCase):
def
test_com_motion_above_feet_COM
(
self
):
cs
=
ContactSequence
()
cs
.
loadFromBinary
(
PATH
+
"com_motion_above_feet_COM.cs"
)
cs
.
loadFromBinary
(
str
(
PATH
/
"com_motion_above_feet_COM.cs"
)
)
self
.
assertEqual
(
cs
.
size
(),
1
)
self
.
assertTrue
(
cs
.
haveConsistentContacts
())
self
.
assertTrue
(
cs
.
haveTimings
())
...
...
@@ -118,7 +118,7 @@ class ExamplesSerialization(unittest.TestCase):
def
test_com_motion_above_feet_WB
(
self
):
cs
=
ContactSequence
()
cs
.
loadFromBinary
(
PATH
+
"com_motion_above_feet_WB.cs"
)
cs
.
loadFromBinary
(
str
(
PATH
/
"com_motion_above_feet_WB.cs"
)
)
self
.
assertEqual
(
cs
.
size
(),
1
)
self
.
assertTrue
(
cs
.
haveConsistentContacts
())
self
.
assertTrue
(
cs
.
haveTimings
())
...
...
@@ -134,14 +134,14 @@ class ExamplesSerialization(unittest.TestCase):
def
test_step_in_place
(
self
):
cs
=
ContactSequence
()
cs
.
loadFromBinary
(
PATH
+
"step_in_place.cs"
)
cs
.
loadFromBinary
(
str
(
PATH
/
"step_in_place.cs"
)
)
self
.
assertEqual
(
cs
.
size
(),
9
)
self
.
assertTrue
(
cs
.
haveConsistentContacts
())
def
test_step_in_place_COM
(
self
):
cs
=
ContactSequence
()
cs
.
loadFromBinary
(
PATH
+
"step_in_place_COM.cs"
)
cs
.
loadFromBinary
(
str
(
PATH
/
"step_in_place_COM.cs"
)
)
self
.
assertEqual
(
cs
.
size
(),
9
)
self
.
assertTrue
(
cs
.
haveConsistentContacts
())
self
.
assertTrue
(
cs
.
haveTimings
())
...
...
@@ -152,7 +152,7 @@ class ExamplesSerialization(unittest.TestCase):
def
test_step_in_place_REF
(
self
):
cs
=
ContactSequence
()
cs
.
loadFromBinary
(
PATH
+
"step_in_place_REF.cs"
)
cs
.
loadFromBinary
(
str
(
PATH
/
"step_in_place_REF.cs"
)
)
self
.
assertEqual
(
cs
.
size
(),
9
)
self
.
assertTrue
(
cs
.
haveConsistentContacts
())
self
.
assertTrue
(
cs
.
haveTimings
())
...
...
@@ -165,7 +165,7 @@ class ExamplesSerialization(unittest.TestCase):
def
test_step_in_place_WB
(
self
):
cs
=
ContactSequence
()
cs
.
loadFromBinary
(
PATH
+
"step_in_place_WB.cs"
)
cs
.
loadFromBinary
(
str
(
PATH
/
"step_in_place_WB.cs"
)
)
self
.
assertEqual
(
cs
.
size
(),
9
)
self
.
assertTrue
(
cs
.
haveConsistentContacts
())
self
.
assertTrue
(
cs
.
haveTimings
())
...
...
@@ -180,14 +180,14 @@ class ExamplesSerialization(unittest.TestCase):
def
test_step_in_place_quasistatic
(
self
):
cs
=
ContactSequence
()
cs
.
loadFromBinary
(
PATH
+
"step_in_place_quasistatic.cs"
)
cs
.
loadFromBinary
(
str
(
PATH
/
"step_in_place_quasistatic.cs"
)
)
self
.
assertEqual
(
cs
.
size
(),
9
)
self
.
assertTrue
(
cs
.
haveConsistentContacts
())
def
test_step_in_place_quasistatic_COM
(
self
):
cs
=
ContactSequence
()
cs
.
loadFromBinary
(
PATH
+
"step_in_place_quasistatic_COM.cs"
)
cs
.
loadFromBinary
(
str
(
PATH
/
"step_in_place_quasistatic_COM.cs"
)
)
self
.
assertEqual
(
cs
.
size
(),
9
)
self
.
assertTrue
(
cs
.
haveConsistentContacts
())
self
.
assertTrue
(
cs
.
haveTimings
())
...
...
@@ -197,7 +197,7 @@ class ExamplesSerialization(unittest.TestCase):
def
test_step_in_place_quasistatic_REF
(
self
):
cs
=
ContactSequence
()
cs
.
loadFromBinary
(
PATH
+
"step_in_place_quasistatic_REF.cs"
)
cs
.
loadFromBinary
(
str
(
PATH
/
"step_in_place_quasistatic_REF.cs"
)
)
self
.
assertEqual
(
cs
.
size
(),
9
)
self
.
assertTrue
(
cs
.
haveConsistentContacts
())
self
.
assertTrue
(
cs
.
haveTimings
())
...
...
@@ -208,7 +208,7 @@ class ExamplesSerialization(unittest.TestCase):
def
test_step_in_place_quasistatic_WB
(
self
):
cs
=
ContactSequence
()
cs
.
loadFromBinary
(
PATH
+
"step_in_place_quasistatic_WB.cs"
)
cs
.
loadFromBinary
(
str
(
PATH
/
"step_in_place_quasistatic_WB.cs"
)
)
self
.
assertEqual
(
cs
.
size
(),
9
)
self
.
assertTrue
(
cs
.
haveConsistentContacts
())
self
.
assertTrue
(
cs
.
haveTimings
())
...
...
@@ -223,14 +223,14 @@ class ExamplesSerialization(unittest.TestCase):
def
test_walk_20cm
(
self
):
cs
=
ContactSequence
()
cs
.
loadFromBinary
(
PATH
+
"walk_20cm.cs"
)
cs
.
loadFromBinary
(
str
(
PATH
/
"walk_20cm.cs"
)
)
self
.
assertEqual
(
cs
.
size
(),
23
)
self
.
assertTrue
(
cs
.
haveConsistentContacts
())
def
test_walk_20cm_COM
(
self
):
cs
=
ContactSequence
()
cs
.
loadFromBinary
(
PATH
+
"walk_20cm_COM.cs"
)
cs
.
loadFromBinary
(
str
(
PATH
/
"walk_20cm_COM.cs"
)
)
self
.
assertEqual
(
cs
.
size
(),
23
)
self
.
assertTrue
(
cs
.
haveConsistentContacts
())
self
.
assertTrue
(
cs
.
haveTimings
())
...
...
@@ -240,7 +240,7 @@ class ExamplesSerialization(unittest.TestCase):
def
test_walk_20cm_REF
(
self
):
cs
=
ContactSequence
()
cs
.
loadFromBinary
(
PATH
+
"walk_20cm_REF.cs"
)
cs
.
loadFromBinary
(
str
(
PATH
/
"walk_20cm_REF.cs"
)
)
self
.
assertEqual
(
cs
.
size
(),
23
)
self
.
assertTrue
(
cs
.
haveConsistentContacts
())
self
.
assertTrue
(
cs
.
haveTimings
())
...
...
@@ -251,7 +251,7 @@ class ExamplesSerialization(unittest.TestCase):
def
test_walk_20cm_WB
(
self
):
cs
=
ContactSequence
()
cs
.
loadFromBinary
(
PATH
+
"walk_20cm_WB.cs"
)
cs
.
loadFromBinary
(
str
(
PATH
/
"walk_20cm_WB.cs"
)
)
self
.
assertEqual
(
cs
.
size
(),
23
)
self
.
assertTrue
(
cs
.
haveConsistentContacts
())
self
.
assertTrue
(
cs
.
haveTimings
())
...
...
@@ -266,14 +266,14 @@ class ExamplesSerialization(unittest.TestCase):
def
test_walk_20cm_quasistatic
(
self
):
cs
=
ContactSequence
()
cs
.
loadFromBinary
(
PATH
+
"walk_20cm_quasistatic.cs"
)
cs
.
loadFromBinary
(
str
(
PATH
/
"walk_20cm_quasistatic.cs"
)
)
self
.
assertEqual
(
cs
.
size
(),
23
)
self
.
assertTrue
(
cs
.
haveConsistentContacts
())
def
test_walk_20cm_quasistatic_COM
(
self
):
cs
=
ContactSequence
()
cs
.
loadFromBinary
(
PATH
+
"walk_20cm_quasistatic_COM.cs"
)
cs
.
loadFromBinary
(
str
(
PATH
/
"walk_20cm_quasistatic_COM.cs"
)
)
self
.
assertEqual
(
cs
.
size
(),
23
)
self
.
assertTrue
(
cs
.
haveConsistentContacts
())
self
.
assertTrue
(
cs
.
haveTimings
())
...
...
@@ -283,7 +283,7 @@ class ExamplesSerialization(unittest.TestCase):
def
test_walk_20cm_quasistatic_REF
(
self
):
cs
=
ContactSequence
()
cs
.
loadFromBinary
(
PATH
+
"walk_20cm_quasistatic_REF.cs"
)
cs
.
loadFromBinary
(
str
(
PATH
/
"walk_20cm_quasistatic_REF.cs"
)
)
self
.
assertEqual
(
cs
.
size
(),
23
)
self
.
assertTrue
(
cs
.
haveConsistentContacts
())
self
.
assertTrue
(
cs
.
haveTimings
())
...
...
@@ -294,7 +294,7 @@ class ExamplesSerialization(unittest.TestCase):
def
test_walk_20cm_quasistatic_WB
(
self
):
cs
=
ContactSequence
()
cs
.
loadFromBinary
(
PATH
+
"walk_20cm_quasistatic_WB.cs"
)
cs
.
loadFromBinary
(
str
(
PATH
/
"walk_20cm_quasistatic_WB.cs"
)
)
self
.
assertEqual
(
cs
.
size
(),
23
)
self
.
assertTrue
(
cs
.
haveConsistentContacts
())
self
.
assertTrue
(
cs
.
haveTimings
())
...
...
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