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Verified Commit dcc3b9cc authored by Justin Carpentier's avatar Justin Carpentier Committed by Justin Carpentier
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Merge pull request #550 from gabrielebndn/topic/pythontest 

[python] Fixed python tests and moved them into unit test, fix #533
parents bd0f2d77 aad0c5ae
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bindings/python/scripts/explog.py
View file @ dcc3b9cc
......@@ -42,9 +42,9 @@ def log(x):
if np.isscalar(x):
return math.log(x)
if isinstance(x, np.ndarray):
if len(x) == 4:
if x.shape == (4, 4):
return se3.log6FromMatrix(x)
if len(x) == 3:
if x.shape == (3, 3):
return se3.log3(x)
raise ValueError('Error only 3 and 4 matrices are allowed.')
raise ValueError('Error log is only defined for real, matrix3, matrix4 and se3.SE3 objects.')
......
python/display.py → examples/python/gepetto-viewer.py
View file @ dcc3b9cc
# NOTE: this example needs gepetto-gui to be installed
# usage: launch gepetto-gui and then run this test
import unittest
import pinocchio as se3
import numpy as np
......@@ -5,15 +8,14 @@ import os
from pinocchio.robot_wrapper import RobotWrapper
# Warning : the paths are here hard-coded. This file is only here as an example
romeo_model_path = os.path.abspath(os.path.join(current_file, '../models/romeo/romeo_description'))
romeo_model_file = romeo_model_path + "/urdf/romeo.urdf"
list_hints = [romeo_model_path,"titi"]
robot = RobotWrapper(romeo_model_file,list_hints, se3.JointModelFreeFlyer())
current_file = os.path.dirname(os.path.abspath(__file__))
romeo_model_dir = os.path.abspath(os.path.join(current_file, '../../models/romeo'))
romeo_model_path = os.path.abspath(os.path.join(romeo_model_dir, 'romeo_description/urdf/romeo.urdf'))
hint_list = [romeo_model_dir, "wrong/hint"] # hint list
robot = RobotWrapper(romeo_model_path, hint_list, se3.JointModelFreeFlyer())
robot.initDisplay()
robot.loadDisplayModel("world/pinocchio")
robot.loadDisplayModel("pinocchio")
q0 = np.matrix([
0, 0, 0.840252, 0, 0, 0, 1, # Free flyer
......@@ -26,4 +28,3 @@ q0 = np.matrix([
]).T
robot.display(q0)
examples/python/load-romeo.py
View file @ dcc3b9cc
import pinocchio as pin
from pinocchio.romeo_wrapper import RomeoWrapper
DISPLAY = False
## Load Romeo with RomeoWrapper
import os
current_path = os.getcwd()
......@@ -24,17 +22,3 @@ q0 = robot.q0
com = robot.com(q0)
# This last command is similar to
com2 = pin.centerOfMass(model,data,q0)
## load model into gepetto-gui
if DISPLAY:
import gepetto.corbaserver
cl = gepetto.corbaserver.Client()
gui = cl.gui
if gui.nodeExists("world"):
gui.deleteNode("world","ON")
robot.initDisplay(loadModel=False)
robot.loadDisplayModel("pinocchio")
robot.display(robot.q0)
gui = robot.viewer.gui
python/bindings.py → unittest/python/bindings.py
View file @ dcc3b9cc
......@@ -3,6 +3,8 @@ from pinocchio.utils import np, npl, rand, skew, zero
from test_case import TestCase
# This whole file seems to be outdated and superseded by more recent tests
# Probably it should be removed and its contents moved or split somewhere else
class TestSE3(TestCase):
def setUp(self):
......@@ -15,7 +17,7 @@ class TestSE3(TestCase):
R, p, m = self.R, self.p, self.m
X = np.vstack([np.hstack([R, skew(p) * R]), np.hstack([zero([3, 3]), R])])
self.assertApprox(m.action, X)
M = np.vstack([np.hstack([R, p]), np.matrix('0 0 0 1', np.double)])
M = np.vstack([np.hstack([R, p]), np.matrix([0., 0., 0., 1.], np.double)])
self.assertApprox(m.homogeneous, M)
m2 = se3.SE3.Random()
self.assertApprox((m * m2).homogeneous, m.homogeneous * m2.homogeneous)
......@@ -25,20 +27,25 @@ class TestSE3(TestCase):
self.assertApprox(m * p, m.rotation * p + m.translation)
self.assertApprox(m.actInv(p), m.rotation.T * p - m.rotation.T * m.translation)
p = np.vstack([p, 1])
self.assertApprox(m * p, m.homogeneous * p)
self.assertApprox(m.actInv(p), npl.inv(m.homogeneous) * p)
## not supported
# p = np.vstack([p, 1])
# self.assertApprox(m * p, m.homogeneous * p)
# self.assertApprox(m.actInv(p), npl.inv(m.homogeneous) * p)
p = rand(6)
self.assertApprox(m * p, m.action * p)
self.assertApprox(m.actInv(p), npl.inv(m.action) * p)
## not supported
# p = rand(6)
# self.assertApprox(m * p, m.action * p)
# self.assertApprox(m.actInv(p), npl.inv(m.action) * p)
# Currently, the different cases do not throw the same exception type.
# To have a more robust test, only Exception is checked.
# In the comments, the most specific actual exception class at the time of writing
p = rand(5)
with self.assertRaises(ValueError):
with self.assertRaises(Exception): # RuntimeError
m * p
with self.assertRaises(ValueError):
with self.assertRaises(Exception): # RuntimeError
m.actInv(p)
with self.assertRaises(ValueError):
with self.assertRaises(Exception): # Boost.Python.ArgumentError (subclass of TypeError)
m.actInv('42')
def test_motion(self):
......@@ -50,7 +57,7 @@ class TestSE3(TestCase):
vv = v.linear
vw = v.angular
self.assertApprox(v.vector, np.vstack([vv, vw]))
self.assertApprox((v ** v).vector, zero(6))
self.assertApprox((v ^ v).vector, zero(6))
def test_force(self):
m = self.m
......@@ -64,7 +71,7 @@ class TestSE3(TestCase):
self.assertApprox((m.actInv(f)).vector, m.action.T * f.vector)
v = se3.Motion.Random()
f = se3.Force(np.vstack([v.vector[3:], v.vector[:3]]))
self.assertApprox((v ** f).vector, zero(6))
self.assertApprox((v ^ f).vector, zero(6))
def test_inertia(self):
m = self.m
......@@ -80,11 +87,14 @@ class TestSE3(TestCase):
def test_cross(self):
m = se3.Motion.Random()
f = se3.Force.Random()
self.assertApprox(m ** m, m.cross_motion(m))
self.assertApprox(m ** f, m.cross_force(f))
with self.assertRaises(ValueError):
m ** 2
self.assertApprox(m ^ m, m.cross(m))
self.assertApprox(m ^ f, m.cross(f))
with self.assertRaises(TypeError):
m ^ 2
def test_exp(self):
m = se3.Motion.Random()
self.assertApprox(se3.exp(m), se3.exp6FromMotion(m))
if __name__ == '__main__':
unittest.main()
\ No newline at end of file
python/bindings_SE3.py → unittest/python/bindings_SE3.py
View file @ dcc3b9cc
import unittest
import pinocchio as se3
import numpy as np
from pinocchio.utils import eye,zero,rand
from pinocchio.utils import eye,zero,rand,skew
ones = lambda n: np.matrix(np.ones([n, 1] if isinstance(n, int) else n), np.double)
......@@ -45,8 +45,18 @@ class TestSE3Bindings(unittest.TestCase):
def test_homogeneous(self):
amb = se3.SE3.Random()
aMb = amb.homogeneous
self.assertTrue(np.allclose(aMb[0:3,0:3], amb.rotation)) # bloc 33 = rotation de amb
self.assertTrue(np.allclose(aMb[0:3,3], amb.translation)) # derniere colonne = translation de amb
self.assertTrue(np.allclose(aMb[0:3,0:3], amb.rotation)) # top left 33 corner = rotation of amb
self.assertTrue(np.allclose(aMb[0:3,3], amb.translation)) # top 3 of last column = translation of amb
self.assertTrue(np.allclose(aMb[3,:], [0.,0.,0.,1.])) # last row = 0 0 0 1
def test_action_matrix(self):
amb = se3.SE3.Random()
aXb = amb.action
self.assertTrue(np.allclose(aXb[:3,:3], amb.rotation)) # top left 33 corner = rotation of amb
self.assertTrue(np.allclose(aXb[3:,3:], amb.rotation)) # bottom right 33 corner = rotation of amb
tblock = skew(amb.translation)*amb.rotation
self.assertTrue(np.allclose(aXb[:3,3:], tblock)) # top right 33 corner = translation + rotation
self.assertTrue(np.allclose(aXb[3:,:3], self.m3zero)) # bottom left 33 corner = 0
def test_inverse(self):
amb = se3.SE3.Random()
......@@ -54,17 +64,33 @@ class TestSE3Bindings(unittest.TestCase):
bma = amb.inverse()
self.assertTrue(np.allclose(np.linalg.inv(aMb), bma.homogeneous))
def test_internal_product(self):
def test_internal_product_vs_homogeneous(self):
amb = se3.SE3.Random()
aMb = amb.homogeneous
bmc = se3.SE3.Random()
bMc = bmc.homogeneous
amc = amb*bmc
cma = amc.inverse()
aMb = amb.homogeneous
bMc = bmc.homogeneous
aMc = amc.homogeneous
cMa = np.linalg.inv(aMc)
self.assertTrue(np.allclose(aMb*bMc, aMc))
self.assertTrue(np.allclose(cma.homogeneous,np.linalg.inv(aMc)))
self.assertTrue(np.allclose(cma.homogeneous,cMa))
def test_internal_product_vs_action(self):
amb = se3.SE3.Random()
bmc = se3.SE3.Random()
amc = amb * bmc
cma = amc.inverse()
aXb = amb.action
bXc = bmc.action
aXc = amc.action
cXa = np.linalg.inv(aXc)
self.assertTrue(np.allclose(aXb*bXc, aXc))
self.assertTrue(np.allclose(cma.action,cXa))
def test_point_action(self):
amb = se3.SE3.Random()
......@@ -74,20 +100,12 @@ class TestSE3Bindings(unittest.TestCase):
p = p_homogeneous[0:3].copy()
# act
self.assertTrue(np.allclose(amb.act_point(p),(aMb*p_homogeneous)[0:3]))
self.assertTrue(np.allclose(amb.act(p),(aMb*p_homogeneous)[0:3]))
# actinv
bMa = np.linalg.inv(aMb)
bma = amb.inverse()
self.assertTrue(np.allclose(bma.act_point(p), (bMa * p_homogeneous)[0:3]))
def test_action_matrix(self):
amb = se3.SE3.Random()
bmc = se3.SE3.Random()
amc = amb * bmc
aXb = amb.action
bXc = bmc.action
aXc = aXb * bXc
self.assertTrue(np.allclose(amc.action,aXc))
self.assertTrue(np.allclose(bma.act(p), (bMa * p_homogeneous)[0:3]))
if __name__ == '__main__':
unittest.main()
python/bindings_force.py → unittest/python/bindings_force.py
View file @ dcc3b9cc
......@@ -20,6 +20,7 @@ class TestForceBindings(unittest.TestCase):
self.assertTrue(np.allclose(self.v3zero, f.angular))
self.assertTrue(np.allclose(self.v6zero, f.vector))
# TODO: this is not nice, since a random vector can *in theory* be zero
def test_setRandom(self):
f = se3.Force.Zero()
f.setRandom()
......@@ -37,7 +38,7 @@ class TestForceBindings(unittest.TestCase):
def test_set_linear(self):
f = se3.Force.Zero()
lin = rand(3) # TODO np.matrix([1,2,3],np.double) OR np.matrix( np.array([1,2,3], np.double), np.double)
lin = rand(3)
f.linear = lin
self.assertTrue(np.allclose(f.linear, lin))
......@@ -62,11 +63,11 @@ class TestForceBindings(unittest.TestCase):
def test_se3_action(self):
f = se3.Force.Random()
m = se3.SE3.Random()
self.assertTrue(np.allclose((m * f).vector, np.linalg.inv(m.action.T) * f.vector))
self.assertTrue(np.allclose((m * f).vector, np.linalg.inv(m.action.T) * f.vector))
self.assertTrue(np.allclose(m.act(f).vector, np.linalg.inv(m.action.T) * f.vector))
self.assertTrue(np.allclose((m.actInv(f)).vector, m.action.T * f.vector))
v = se3.Motion.Random()
f = se3.Force(np.vstack([v.vector[3:], v.vector[:3]]))
self.assertTrue(np.allclose((v ** f).vector, zero(6)))
v = se3.Motion(np.vstack([f.vector[3:], f.vector[:3]]))
self.assertTrue(np.allclose((v ^ f).vector, zero(6)))
if __name__ == '__main__':
unittest.main()
python/bindings_frame.py → unittest/python/bindings_frame.py
View file @ dcc3b9cc
......@@ -2,7 +2,6 @@ import unittest
import pinocchio as se3
import numpy as np
from pinocchio.utils import eye,zero,rand
from pinocchio.robot_wrapper import RobotWrapper
import os
ones = lambda n: np.matrix(np.ones([n, 1] if isinstance(n, int) else n), np.double)
......@@ -17,36 +16,43 @@ class TestFrameBindings(unittest.TestCase):
m3ones = eye(3)
m4ones = eye(4)
current_file = os.path.dirname(os.path.abspath(__file__))
pinocchio_models_dir = os.path.abspath(os.path.join(current_file, '../models/romeo/romeo_description'))
romeo_model_path = os.path.abspath(os.path.join(pinocchio_mdoels_dir, '/urdf/romeo.urdf'))
hint_list = [pinocchio_models_dir, "wrong/hint"] # hint list
robot = RobotWrapper(romeo_model_path, hint_list, se3.JointModelFreeFlyer())
def setUp(self):
self.model = se3.Model.BuildHumanoidSimple()
self.parent_idx = self.model.getJointId("rarm2_joint") if self.model.existJointName("rarm2_joint") else (self.model.njoints-1)
self.frame_name = self.model.names[self.parent_idx] + "_frame"
self.frame_placement = se3.SE3.Random()
self.frame_type = se3.FrameType.OP_FRAME
self.model.addFrame(se3.Frame(self.frame_name, self.parent_idx, 0, self.frame_placement, self.frame_type))
self.frame_idx = self.model.getFrameId(self.frame_name)
def tearDown(self):
del self.model
def test_type_get_set(self):
f = self.robot.model.frames[5]
self.assertTrue(f.type == se3.FrameType.JOINT)
f = self.model.frames[self.frame_idx]
self.assertTrue(f.type == self.frame_type)
f.type = se3.FrameType.BODY
self.assertTrue(f.type == se3.FrameType.BODY)
def test_name_get_set(self):
f = self.robot.model.frames[5]
self.assertTrue(f.name == 'LHipYaw')
def test_name_get_set(self):
f = self.model.frames[self.frame_idx]
self.assertTrue(f.name == self.frame_name)
f.name = 'new_hip_frame'
self.assertTrue(f.name == 'new_hip_frame')
def test_parent_get_set(self):
f = self.robot.model.frames[5]
self.assertTrue(f.parent == 2)
f.parent = 5
self.assertTrue(f.parent == 5)
f = self.model.frames[self.frame_idx]
self.assertTrue(f.parent == self.parent_idx)
newparent = self.parent_idx-1
f.parent = newparent
self.assertTrue(f.parent == newparent)
def test_placement_get_set(self):
m = se3.SE3(self.m3ones, np.array([0,0,0],np.double))
new_m = se3.SE3(rand([3,3]), rand(3))
f = self.robot.model.frames[2]
self.assertTrue(np.allclose(f.placement.homogeneous, m.homogeneous))
f.placement = new_m
self.assertTrue(np.allclose(f.placement.homogeneous, new_m.homogeneous))
f = self.model.frames[self.frame_idx]
self.assertTrue(np.allclose(f.placement.homogeneous, self.frame_placement.homogeneous))
new_placement = se3.SE3.Random()
f.placement = new_placement
self.assertTrue(np.allclose(f.placement.homogeneous, new_placement.homogeneous))
if __name__ == '__main__':
unittest.main()
python/bindings_geometry_object.py → unittest/python/bindings_geometry_object.py
View file @ dcc3b9cc
......@@ -2,11 +2,19 @@ import unittest
import pinocchio as se3
import numpy as np
from pinocchio.utils import eye,zero,rand
from pinocchio.robot_wrapper import RobotWrapper
import os
ones = lambda n: np.matrix(np.ones([n, 1] if isinstance(n, int) else n), np.double)
# TODO: remove these lines. Do not use RobotWrapper. Do not use URDF
from pinocchio.robot_wrapper import RobotWrapper
current_file = os.path.dirname(os.path.abspath(__file__))
romeo_model_dir = os.path.abspath(os.path.join(current_file, '../../models/romeo'))
romeo_model_path = os.path.abspath(os.path.join(romeo_model_dir, 'romeo_description/urdf/romeo.urdf'))
hint_list = [romeo_model_dir, "wrong/hint"] # hint list
robot = RobotWrapper(romeo_model_path, hint_list, se3.JointModelFreeFlyer())
expected_mesh_path = os.path.join(romeo_model_dir,'romeo_description/meshes/V1/collision/LHipPitch.dae')
class TestGeometryObjectBindings(unittest.TestCase):
v3zero = zero(3)
......@@ -17,21 +25,24 @@ class TestGeometryObjectBindings(unittest.TestCase):
m3ones = eye(3)
m4ones = eye(4)
current_file = os.path.dirname(os.path.abspath(__file__))
pinocchio_models_dir = os.path.abspath(os.path.join(current_file, '../models/romeo/romeo_description'))
romeo_model_path = os.path.abspath(pinocchio_models_dir, '/urdf/romeo.urdf')
hint_list = [pinocchio_models_dir, "wrong/hint"] # hint list
robot = RobotWrapper(romeo_model_path, hint_list, se3.JointModelFreeFlyer())
# WARNING: the collision model is the same object is the same for all the tests.
# This can cause problems if a test expects the collision model to be in a certain way but a previous test has changed it
# Still, at the moment this is not the case.
# Loading the URDF and related meshes before each test would make the whole unit test run too slowly
#
# TODO: do not use URDF. Then, build self.collision_model from scratch for each test
def setUp(self):
self.collision_model = robot.collision_model
self.expected_mesh_path = expected_mesh_path
def test_name_get_set(self):
col = self.robot.collision_model.geometryObjects[1]
col = self.collision_model.geometryObjects[1]
self.assertTrue(col.name == 'LHipPitchLink_0')
col.name = 'new_collision_name'
self.assertTrue(col.name == 'new_collision_name')
def test_parent_get_set(self):
col = self.robot.collision_model.geometryObjects[1]
col = self.collision_model.geometryObjects[1]
self.assertTrue(col.parentJoint == 4)
col.parentJoint = 5
self.assertTrue(col.parentJoint == 5)
......@@ -39,15 +50,14 @@ class TestGeometryObjectBindings(unittest.TestCase):
def test_placement_get_set(self):
m = se3.SE3(self.m3ones, self.v3zero)
new_m = se3.SE3(rand([3,3]), rand(3))
col = self.robot.collision_model.geometryObjects[1]
col = self.collision_model.geometryObjects[1]
self.assertTrue(np.allclose(col.placement.homogeneous,m.homogeneous))
col.placement = new_m
self.assertTrue(np.allclose(col.placement.homogeneous , new_m.homogeneous))
def test_meshpath_get(self):
expected_mesh_path = os.path.join(self.pinocchio_models_dir,'meshes/romeo/collision/LHipPitch.dae')
col = self.robot.collision_model.geometryObjects[1]
self.assertTrue(col.meshPath == expected_mesh_path)
col = self.collision_model.geometryObjects[1]
self.assertTrue(col.meshPath == self.expected_mesh_path)
if __name__ == '__main__':
unittest.main()
python/bindings_inertia.py → unittest/python/bindings_inertia.py
View file @ dcc3b9cc
......@@ -27,7 +27,7 @@ class TestInertiaBindings(unittest.TestCase):
self.assertTrue(np.allclose(self.v3zero, Y.lever))
self.assertTrue(np.allclose(self.m3ones, Y.inertia))
# TODO: this is not nice, since a random matrix can *in theory* be unity
def test_setRandom(self):
Y = se3.Inertia.Identity()
Y.setRandom()
......@@ -65,8 +65,7 @@ class TestInertiaBindings(unittest.TestCase):
Y = se3.Inertia.Zero()
iner = rand([3,3])
iner = (iner + iner.T) / 2. # Symmetrize the matrix
vec6_iner = np.matrix([iner[0,0],iner[0,1], iner[1,1], iner[0,2], iner[1,2], iner[2,2]], np.double)
Y.inertia = vec6_iner
Y.inertia = iner
self.assertTrue(np.allclose(Y.inertia, iner))
def test_internal_sums(self):
......@@ -80,8 +79,9 @@ class TestInertiaBindings(unittest.TestCase):
Y = se3.Inertia.Random()
v = se3.Motion.Random()
self.assertTrue(np.allclose((Y * v).vector, Y.matrix() * v.vector))
self.assertTrue(np.allclose((m * Y).matrix(), m.inverse().action.T * Y.matrix() * m.inverse().action))
self.assertTrue(np.allclose((m * Y).matrix(), m.inverse().action.T * Y.matrix() * m.inverse().action))
self.assertTrue(np.allclose(m.act(Y).matrix(), m.inverse().action.T * Y.matrix() * m.inverse().action))
self.assertTrue(np.allclose((m.actInv(Y)).matrix(), m.action.T * Y.matrix() * m.action))
if __name__ == '__main__':
unittest.main()
python/bindings_motion.py → unittest/python/bindings_motion.py
View file @ dcc3b9cc
......@@ -20,6 +20,7 @@ class TestMotionBindings(unittest.TestCase):
self.assertTrue(np.allclose(self.v3zero, v.angular))
self.assertTrue(np.allclose(self.v6zero, v.vector))
# TODO: this is not nice, since a random vector can *in theory* be zero
def test_setRandom(self):
v = se3.Motion.Zero()
v.setRandom()
......@@ -37,7 +38,7 @@ class TestMotionBindings(unittest.TestCase):
def test_set_linear(self):
v = se3.Motion.Zero()
lin = rand(3) # TODO np.matrix([1,2,3],np.double) OR np.matrix( np.array([1,2,3], np.double), np.double)
lin = rand(3)
v.linear = lin
self.assertTrue(np.allclose(v.linear, lin))
......@@ -62,8 +63,10 @@ class TestMotionBindings(unittest.TestCase):
def test_se3_action(self):
m = se3.SE3.Random()
v = se3.Motion.Random()
self.assertTrue(np.allclose((m * v).vector, m.action * v.vector))
self.assertTrue(np.allclose((m * v).vector, m.action * v.vector))
self.assertTrue(np.allclose(m.act(v).vector, m.action * v.vector))
self.assertTrue(np.allclose((m.actInv(v)).vector, np.linalg.inv(m.action) * v.vector))
self.assertTrue(np.allclose((v ** v).vector, zero(6)))
self.assertTrue(np.allclose((v ^ v).vector, zero(6)))
if __name__ == '__main__':
unittest.main()
python/explog.py → unittest/python/explog.py
View file @ dcc3b9cc
......@@ -2,6 +2,7 @@ import math
import numpy as np
import pinocchio as se3
from pinocchio.utils import rand
from pinocchio.explog import exp, log
from test_case import TestCase
......@@ -13,11 +14,13 @@ class TestExpLog(TestCase):
self.assertApprox(log(42), math.log(42))
self.assertApprox(exp(log(42)), 42)
self.assertApprox(log(exp(42)), 42)
m = np.matrix(list(range(1, 4)), np.double).T
m = rand(3)
self.assertTrue(np.linalg.norm(m) < np.pi) # necessary for next test
self.assertApprox(log(exp(m)), m)
m = se3.SE3.Random()
self.assertApprox(exp(log(m)), m)
m = np.matrix([float(i) / 10 for i in range(1, 7)]).T
m = rand(6)
self.assertTrue(np.linalg.norm(m) < np.pi) # necessary for next test (actually, only angular part)
self.assertApprox(log(exp(m)), m)
m = np.eye(4)
self.assertApprox(exp(log(m)).homogeneous, m)
......@@ -29,3 +32,8 @@ class TestExpLog(TestCase):
log(list(range(3)))
with self.assertRaises(ValueError):
log(np.zeros(5))
with self.assertRaises(ValueError):
log(np.zeros((3,1)))
if __name__ == '__main__':
unittest.main()
\ No newline at end of file
python/model.py → unittest/python/model.py
View file @ dcc3b9cc
......@@ -54,3 +54,6 @@ class TestModel(TestCase):
self.assertApprox(data.v[i].np, zero(6))
self.assertApprox(data.a_gf[0].np, -model.gravity.np)
self.assertApprox(data.f[-1], model.inertias[-1] * data.a_gf[-1])
if __name__ == '__main__':
unittest.main()
python/rpy.py → unittest/python/rpy.py
View file @ dcc3b9cc
......@@ -20,3 +20,6 @@ class TestRPY(TestCase):
self.assertApprox(rpyToMatrix(matrixToRpy(m)), m)
rpy = np.matrix(list(range(3))).T * pi / 2
self.assertApprox(matrixToRpy(rpyToMatrix(rpy)), rpy)
if __name__ == '__main__':
unittest.main()
python/tests.py → unittest/python/tests.py
View file @ dcc3b9cc
......@@ -4,17 +4,17 @@ from __future__ import print_function
import unittest, sys
from bindings import TestSE3 # noqa
from bindings import TestSE3 # TODO: probably remove and move/split its contents
from bindings_SE3 import TestSE3Bindings
from bindings_force import TestForceBindings
from bindings_motion import TestMotionBindings
from bindings_inertia import TestInertiaBindings
from bindings_frame import TestFrameBindings
from bindings_geometry_object import TestGeometryObjectBindings # Python Class RobotWrapper needs geometry module to not raise Exception
from explog import TestExpLog # noqa
from model import TestModel # noqa
from rpy import TestRPY # noqa
from utils import TestUtils # noqa
from bindings_geometry_object import TestGeometryObjectBindings # noqa. Needs to remove romeo
from explog import TestExpLog
from model import TestModel
from rpy import TestRPY
from utils import TestUtils
if __name__ == '__main__':
print("Python version")
......
python/utils.py → unittest/python/utils.py
View file @ dcc3b9cc
......@@ -2,8 +2,7 @@ from math import sqrt
import numpy as np
import pinocchio as se3