Problem of assert fixed using unittest method / divide test function : one for each class binded

python/test/test.py

+# FOR PRINT, TO REMOVE
+import StringIO
+import sys
+# END FOR PRINT
+
+
 from numpy import matrix
 from numpy.linalg import norm
 
+import unittest
+
 from curves import bezier3, bezier6, curve_constraints, exact_cubic, from_bezier, polynom, spline_deriv_constraint
 
-__EPS = 1e-6
 
-waypoints = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
-waypoints6 = matrix([[1., 2., 3., 7., 5., 5.], [4., 5., 6., 4., 5., 6.]]).transpose()
-time_waypoints = matrix([0., 1.]).transpose()
+class TestCurve(unittest.TestCase):
+	#def print_str(self, inStr):
+	#	print inStr
+	#	return
+
+	def test_bezier(self):
+		# To test :
+		# - Functions : constructor, min, max, derivate,compute_derivate, compute_primitive
+		# - Variables : degree, nbWayPoints
+		__EPS = 1e-6
+		waypoints = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
+		waypoints6 = matrix([[1., 2., 3., 7., 5., 5.], [4., 5., 6., 4., 5., 6.]]).transpose()
+		time_waypoints = matrix([0., 1.]).transpose()
+		# Create bezier6 and bezier3
+		a = bezier6(waypoints6)
+		a = bezier3(waypoints, 3.)
+		# Test : Degree, min, max, derivate
+		#self.print_str(("test 1")
+		self.assertEqual (a.degree, a.nbWaypoints - 1)
+		a.min()
+		a.max()
+		a(0.4)
+		self.assertTrue ((a.derivate(0.4, 0) == a(0.4)).all())
+		a.derivate(0.4, 2)
+		a = a.compute_derivate(100)
+		prim = a.compute_primitive(1)
+		# Check primitive and derivate - order 1
+		for i in range(10):
+		    t = float(i) / 10.
+		    self.assertTrue ((a(t) == prim.derivate(t, 1)).all())
+		self.assertTrue ((prim(0) == matrix([0., 0., 0.])).all())
+		# Check primitive and derivate - order 2
+		prim = a.compute_primitive(2)
+		for i in range(10):
+		    t = float(i) / 10.
+		    self.assertTrue ((a(t) == prim.derivate(t, 2)).all())
+		self.assertTrue ((prim(0) == matrix([0., 0., 0.])).all())
+		# Create new bezier3 curve
+		waypoints = matrix([[1., 2., 3.], [4., 5., 6.], [4., 5., 6.], [4., 5., 6.], [4., 5., 6.]]).transpose()
+		a0 = bezier3(waypoints)
+		a1 = bezier3(waypoints, 3.)
+		prim0 = a0.compute_primitive(1)
+		prim1 = a1.compute_primitive(1)
+		# Check change in argument time_t of bezier3
+		for i in range(10):
+		    t = float(i) / 10.
+		    self.assertTrue (norm(a0(t) - a1(3 * t)) < __EPS)
+		    self.assertTrue (norm(a0.derivate(t, 1) - a1.derivate(3 * t, 1) * 3.) < __EPS)
+		    self.assertTrue (norm(a0.derivate(t, 2) - a1.derivate(3 * t, 2) * 9.) < __EPS)
+		    self.assertTrue (norm(prim0(t) - prim1(t * 3) / 3.) < __EPS)
+		self.assertTrue ((prim(0) == matrix([0., 0., 0.])).all())
+		# testing bezier with constraints
+		c = curve_constraints()
+		c.init_vel = matrix([0., 1., 1.]).transpose()
+		c.end_vel = matrix([0., 1., 1.]).transpose()
+		c.init_acc = matrix([0., 1., -1.]).transpose()
+		c.end_acc = matrix([0., 100., 1.]).transpose()
+		#Check derivate with constraints
+		waypoints = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
+		a = bezier3(waypoints, c)
+		self.assertTrue (norm(a.derivate(0, 1) - c.init_vel) < 1e-10)
+		self.assertTrue (norm(a.derivate(1, 2) - c.end_acc) < 1e-10)
+		return
 
-# TESTING BEZIER CURVE 
-# - Functions : constructor, min, max, derivate,compute_derivate, compute_primitive
-# - Variables : degree, nbWayPoints
-# Create bezier6 and bezier3
-a = bezier6(waypoints6)
-a = bezier3(waypoints, 3.)
-# Test : Degree, min, max, derivate
-assert (a.degree == a.nbWaypoints - 1)
-a.min()
-a.max()
-a(0.4)
-assert ((a.derivate(0.4, 0) == a(0.4)).all())
-a.derivate(0.4, 2)
-a = a.compute_derivate(100)
-prim = a.compute_primitive(1)
-# Check primitive and derivate - order 1
-for i in range(10):
-    t = float(i) / 10.
-    assert (a(t) == prim.derivate(t, 1)).all()
-assert (prim(0) == matrix([0., 0., 0.])).all()
-# Check primitive and derivate - order 2
-prim = a.compute_primitive(2)
-for i in range(10):
-    t = float(i) / 10.
-    assert (a(t) == prim.derivate(t, 2)).all()
-assert (prim(0) == matrix([0., 0., 0.])).all()
-# Create new bezier3 curve
-waypoints = matrix([[1., 2., 3.], [4., 5., 6.], [4., 5., 6.], [4., 5., 6.], [4., 5., 6.]]).transpose()
-a0 = bezier3(waypoints)
-a1 = bezier3(waypoints, 3.)
-prim0 = a0.compute_primitive(1)
-prim1 = a1.compute_primitive(1)
-# Check change in argument time_t of bezier3
-for i in range(10):
-    t = float(i) / 10.
-    assert norm(a0(t) - a1(3 * t)) < __EPS
-    assert norm(a0.derivate(t, 1) - a1.derivate(3 * t, 1) * 3.) < __EPS
-    assert norm(a0.derivate(t, 2) - a1.derivate(3 * t, 2) * 9.) < __EPS
-    assert norm(prim0(t) - prim1(t * 3) / 3.) < __EPS
-assert (prim(0) == matrix([0., 0., 0.])).all()
-# testing bezier with constraints
-c = curve_constraints()
-c.init_vel = matrix([0., 1., 1.]).transpose()
-c.end_vel = matrix([0., 1., 1.]).transpose()
-c.init_acc = matrix([0., 1., -1.]).transpose()
-c.end_acc = matrix([0., 100., 1.]).transpose()
-#Check derivate with constraints
-waypoints = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
-a = bezier3(waypoints, c)
-assert norm(a.derivate(0, 1) - c.init_vel) < 1e-10
-assert norm(a.derivate(1, 2) - c.end_acc) < 1e-10
+	def test_polynom(self):
+		# To test :
+		# - Functions : constructor, min, max, derivate
+		waypoints = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
+		a = polynom(waypoints)
+		a = polynom(waypoints, -1., 3.)
+		a.min()
+		a.max()
+		a(0.4)
+		self.assertTrue ((a.derivate(0.4, 0) == a(0.4)).all())
+		a.derivate(0.4, 2)
+		return
 
-# TESTING POLYNOM FUNCTION
-# - Functions : constructor, min, max, derivate
-a = polynom(waypoints)
-a = polynom(waypoints, -1., 3.)
-a.min()
-a.max()
-a(0.4)
-assert ((a.derivate(0.4, 0) == a(0.4)).all())
-a.derivate(0.4, 2)
+	def test_exact_cubic(self):
+		# To test :
+		# - Functions : constructor, min, max, derivate
+		waypoints = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
+		time_waypoints = matrix([0., 1.]).transpose()
+		a = exact_cubic(waypoints, time_waypoints)
+		a.min()
+		a.max()
+		a(0.4)
+		self.assertTrue ((a.derivate(0.4, 0) == a(0.4)).all())
+		a.derivate(0.4, 2)
+		return
 
-# TESTING EXACT_CUBIC FUNCTION
-# - Functions : constructor, min, max, derivate
-a = exact_cubic(waypoints, time_waypoints)
-a.min()
-a.max()
-a(0.4)
-assert ((a.derivate(0.4, 0) == a(0.4)).all())
-a.derivate(0.4, 2)
+	def test_spline_deriv_constraint(self):
+		# To test :
+		# - Functions : constructor, min, max, derivate
+		waypoints = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
+		time_waypoints = matrix([0., 1.]).transpose()
+		c = curve_constraints()
+		c.init_vel
+		c.end_vel
+		c.init_acc
+		c.end_acc
+		c.init_vel = matrix([0., 1., 1.]).transpose()
+		c.end_vel = matrix([0., 1., 1.]).transpose()
+		c.init_acc = matrix([0., 1., 1.]).transpose()
+		c.end_acc = matrix([0., 1., 1.]).transpose()
+		a = spline_deriv_constraint(waypoints, time_waypoints)
+		a = spline_deriv_constraint(waypoints, time_waypoints, c)
+		return
 
-# TESTING SPLINE_DERIV_CONSTRAINTS
-# - Functions : constructor, min, max, derivate
-c = curve_constraints()
-c.init_vel
-c.end_vel
-c.init_acc
-c.end_acc
-c.init_vel = matrix([0., 1., 1.]).transpose()
-c.end_vel = matrix([0., 1., 1.]).transpose()
-c.init_acc = matrix([0., 1., 1.]).transpose()
-c.end_acc = matrix([0., 1., 1.]).transpose()
-a = spline_deriv_constraint(waypoints, time_waypoints)
-a = spline_deriv_constraint(waypoints, time_waypoints, c)
+	def test_from_bezier(self):
+		# converting bezier to polynom
+		__EPS = 1e-6
+		waypoints = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
+		a = bezier3(waypoints)
+		a_pol = from_bezier(a)
+		self.assertTrue (norm(a(0.3) - a_pol(0.3)) < __EPS)
+		return
 
-# CONVERTING BEZIER TO POLYNOM
-a = bezier3(waypoints)
-a_pol = from_bezier(a)
-assert norm(a(0.3) - a_pol(0.3)) < __EPS
+if __name__ == '__main__':
+    unittest.main()