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Pierre Fernbach
curves
Commits
b5c02643
Commit
b5c02643
authored
Mar 29, 2020
by
Pierre Fernbach
Browse files
[Tests][Python] add test cases for pickle serialization
parent
0f7539b8
Pipeline
#8887
failed with stage
in 10 minutes and 39 seconds
Changes
1
Pipelines
1
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python/test/test.py
View file @
b5c02643
...
...
@@ -6,7 +6,7 @@ import eigenpy
import
numpy
as
np
from
numpy
import
array
,
array_equal
,
isclose
,
random
,
zeros
from
numpy.linalg
import
norm
import
pickle
from
curves
import
(
CURVES_WITH_PINOCCHIO_SUPPORT
,
Quaternion
,
SE3Curve
,
SO3Linear
,
bezier
,
bezier3
,
convert_to_bezier
,
convert_to_hermite
,
convert_to_polynomial
,
cubic_hermite_spline
,
curve_constraints
,
exact_cubic
,
piecewise
,
piecewise_SE3
,
polynomial
)
...
...
@@ -136,6 +136,10 @@ class TestCurves(unittest.TestCase):
b
.
loadFromText
(
"serialization_curve.test"
)
self
.
assertTrue
((
a
(
0.4
)
==
b
(
0.4
)).
all
())
os
.
remove
(
"serialization_curve.test"
)
a_pickled
=
pickle
.
dumps
(
a
)
a_from_pickle
=
pickle
.
loads
(
a_pickled
)
self
.
assertEqual
(
a_from_pickle
,
a
)
return
def
test_bezier3
(
self
):
...
...
@@ -235,6 +239,9 @@ class TestCurves(unittest.TestCase):
b
.
loadFromText
(
"serialization_curve.test"
)
self
.
assertTrue
((
a
(
0.4
)
==
b
(
0.4
)).
all
())
os
.
remove
(
"serialization_curve.test"
)
a_pickled
=
pickle
.
dumps
(
a
)
a_from_pickle
=
pickle
.
loads
(
a_pickled
)
self
.
assertEqual
(
a_from_pickle
,
a
)
return
def
test_polynomial
(
self
):
...
...
@@ -263,6 +270,9 @@ class TestCurves(unittest.TestCase):
b
.
loadFromText
(
"serialization_curve.test"
)
self
.
assertTrue
((
a
(
0.4
)
==
b
(
0.4
)).
all
())
os
.
remove
(
"serialization_curve.test"
)
a_pickled
=
pickle
.
dumps
(
a
)
a_from_pickle
=
pickle
.
loads
(
a_pickled
)
self
.
assertEqual
(
a_from_pickle
,
a
)
return
def
test_polynomial_from_boundary_condition
(
self
):
...
...
@@ -338,6 +348,9 @@ class TestCurves(unittest.TestCase):
b
.
loadFromText
(
"serialization_curve.test"
)
self
.
assertTrue
((
a
(
0.4
)
==
b
(
0.4
)).
all
())
os
.
remove
(
"serialization_curve.test"
)
a_pickled
=
pickle
.
dumps
(
a
)
a_from_pickle
=
pickle
.
loads
(
a_pickled
)
self
.
assertEqual
(
a_from_pickle
,
a
)
return
def
test_piecewise_polynomial_curve
(
self
):
...
...
@@ -371,6 +384,9 @@ class TestCurves(unittest.TestCase):
pc_test
.
loadFromText
(
"serialization_pc.test"
)
self
.
assertTrue
((
pc
(
0.4
)
==
pc_test
(
0.4
)).
all
())
os
.
remove
(
"serialization_pc.test"
)
pc_pickled
=
pickle
.
dumps
(
pc
)
pc_from_pickle
=
pickle
.
loads
(
pc_pickled
)
self
.
assertEqual
(
pc_from_pickle
,
pc
)
waypoints3
=
array
([[
1.
,
2.
,
3.
,
0.6
,
-
9.
],
[
-
1.
,
1.6
,
1.7
,
6.7
,
14
]]).
transpose
()
c
=
polynomial
(
waypoints3
,
3.
,
5.2
)
...
...
@@ -490,6 +506,9 @@ class TestCurves(unittest.TestCase):
pc_test
.
loadFromText
(
"serialization_pc.test"
)
self
.
assertTrue
((
pc
(
0.4
)
==
pc_test
(
0.4
)).
all
())
os
.
remove
(
"serialization_pc.test"
)
pc_pickled
=
pickle
.
dumps
(
pc
)
pc_from_pickle
=
pickle
.
loads
(
pc_pickled
)
self
.
assertEqual
(
pc_from_pickle
,
pc
)
return
def
test_piecewise_cubic_hermite_curve
(
self
):
...
...
@@ -523,6 +542,9 @@ class TestCurves(unittest.TestCase):
pc_test
.
loadFromText
(
"serialization_pc.test"
)
self
.
assertTrue
((
pc
(
0.4
)
==
pc_test
(
0.4
)).
all
())
os
.
remove
(
"serialization_pc.test"
)
pc_pickled
=
pickle
.
dumps
(
pc
)
pc_from_pickle
=
pickle
.
loads
(
pc_pickled
)
self
.
assertEqual
(
pc_from_pickle
,
pc
)
return
def
test_exact_cubic
(
self
):
...
...
@@ -545,6 +567,9 @@ class TestCurves(unittest.TestCase):
b
.
loadFromText
(
"serialization_pc.test"
)
self
.
assertTrue
((
a
(
0.4
)
==
b
(
0.4
)).
all
())
os
.
remove
(
"serialization_pc.test"
)
a_pickled
=
pickle
.
dumps
(
a
)
a_from_pickle
=
pickle
.
loads
(
a_pickled
)
self
.
assertEqual
(
a_from_pickle
,
a
)
return
def
test_exact_cubic_constraint
(
self
):
...
...
@@ -666,6 +691,10 @@ class TestCurves(unittest.TestCase):
pc_bin
.
loadFromBinary
(
"serialization_curve"
)
self
.
compareCurves
(
pc
,
pc_bin
)
pc_pickled
=
pickle
.
dumps
(
pc
)
pc_from_pickle
=
pickle
.
loads
(
pc_pickled
)
self
.
assertEqual
(
pc_from_pickle
,
pc
)
se3_3
=
SE3Curve
(
se3
(
max
),
se3_2
(
max2
-
0.5
),
max2
,
max2
+
1.5
)
pc
.
append
(
se3_3
)
self
.
assertFalse
(
pc
.
is_continuous
(
0
))
...
...
@@ -885,6 +914,10 @@ class TestCurves(unittest.TestCase):
so3_bin
.
loadFromBinary
(
"serialization_curve"
)
self
.
compareCurves
(
so3Rot
,
so3_bin
)
so3Rot_pickled
=
pickle
.
dumps
(
so3Rot
)
so3Rot_from_pickle
=
pickle
.
loads
(
so3Rot_pickled
)
self
.
assertEqual
(
so3Rot_from_pickle
,
so3Rot
)
def
test_se3_curve_linear
(
self
):
print
(
"test SE3 Linear"
)
init_quat
=
Quaternion
.
Identity
()
...
...
@@ -1235,6 +1268,10 @@ class TestCurves(unittest.TestCase):
se3_bin
.
loadFromBinary
(
"serialization_curve"
)
self
.
compareCurves
(
se3_linear
,
se3_bin
)
se3_pickled
=
pickle
.
dumps
(
se3_linear
)
se3_from_pickle
=
pickle
.
loads
(
se3_pickled
)
self
.
assertEqual
(
se3_from_pickle
,
se3_linear
)
# test from two curves :
init_quat
=
Quaternion
.
Identity
()
end_quat
=
Quaternion
(
sqrt
(
2.
)
/
2.
,
sqrt
(
2.
)
/
2.
,
0
,
0
)
...
...
@@ -1262,6 +1299,10 @@ class TestCurves(unittest.TestCase):
se3_bin
.
loadFromBinary
(
"serialization_curve"
)
self
.
compareCurves
(
se3_curves
,
se3_bin
)
se3_pickled
=
pickle
.
dumps
(
se3_curves
)
se3_from_pickle
=
pickle
.
loads
(
se3_pickled
)
self
.
assertEqual
(
se3_from_pickle
,
se3_curves
)
def
test_operatorEqual
(
self
):
# test with bezier
waypoints
=
array
([[
1.
,
2.
,
3.
],
[
4.
,
5.
,
6.
],
[
4.
,
5.
,
6.
],
[
4.
,
5.
,
6.
],
[
4.
,
5.
,
6.
]]).
transpose
()
...
...
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