From 28e78875f1263e6ff7de6f8a3227c37b2ee11f8a Mon Sep 17 00:00:00 2001
From: JasonChmn <jason.chemin@hotmail.fr>
Date: Mon, 15 Apr 2019 18:25:49 +0200
Subject: [PATCH] Problem of assert fixed using unittest method / divide test
function : one for each class binded
---
python/test/test.py | 211 +++++++++++++++++++++++++-------------------
1 file changed, 122 insertions(+), 89 deletions(-)
diff --git a/python/test/test.py b/python/test/test.py
index 339e734..9f61b24 100644
--- a/python/test/test.py
+++ b/python/test/test.py
@@ -1,100 +1,133 @@
+# 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()
--
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