[Python][Test] use unittest

python/test/quick.py

@@ -1,13 +1,22 @@
-from libparametric_curves_pywrap import polynomial, curve_constraints, forcecurve, spline
+import unittest
 
 from numpy import matrix
 
-cc = curve_constraints()
-cc.init_vel = matrix(range(3)).T
+from libparametric_curves_pywrap import (curve_constraints, forcecurve, polynomial, spline)
 
-fc = forcecurve()
-sp = spline()
-pn = polynomial(matrix('1 2 3;4 5 6;7 8 9'))
 
-assert pn.min() == 0.0
-assert pn.max() == 1.0
+class ParametricCurvesQuickTests(unittest.TestCase):
+    def test_quick(self):
+        cc = curve_constraints()
+        cc.init_vel = matrix(range(3)).T
+
+        forcecurve()
+        spline()
+        pn = polynomial(matrix('1 2 3;4 5 6;7 8 9'))
+
+        self.assertEqual(pn.min(), 0.0)
+        self.assertEqual(pn.max(), 1.0)
+
+
+if __name__ == '__main__':
+    unittest.main()

python/test/test.py

@@ -1,76 +1,85 @@
+import unittest
+
 from numpy import matrix
 from numpy.linalg import norm
 
 from spline import (bezier, bezier6, curve_constraints, exact_cubic, polynom, spline_deriv_constraint)
 
-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.])
-
-# testing bezier curve
-a = bezier6(waypoints6)
-a = bezier(waypoints, -1., 3.)
-
-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)
-
-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()
-
-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()
-
-# testing bezier with constraints
-c = curve_constraints()
-c.init_vel = matrix([0., 1., 1.])
-c.end_vel = matrix([0., 1., 1.])
-c.init_acc = matrix([0., 1., -1.])
-c.end_acc = matrix([0., 100., 1.])
-
-a = bezier(waypoints, c)
-assert norm(a.derivate(0, 1) - c.init_vel) < 1e-10
-assert norm(a.derivate(1, 2) - c.end_acc) < 1e-10
-
-# testing polynom function
-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)
-
-# testing exact_cubic function
-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)
-
-# testing spline_deriv_constraints
-c = curve_constraints()
-c.init_vel
-c.end_vel
-c.init_acc
-c.end_acc
-
-c.init_vel = matrix([0., 1., 1.])
-c.end_vel = matrix([0., 1., 1.])
-c.init_acc = matrix([0., 1., 1.])
-c.end_acc = matrix([0., 1., 1.])
-
-a = spline_deriv_constraint(waypoints, time_waypoints)
-a = spline_deriv_constraint(waypoints, time_waypoints, c)
+
+class ParametricCurvesTests(unittest.TestCase):
+    def test_all(self):
+        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.])
+
+        # testing bezier curve
+        a = bezier6(waypoints6)
+        a = bezier(waypoints, -1., 3.)
+
+        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)
+
+        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())
+
+        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())
+
+        # testing bezier with constraints
+        c = curve_constraints()
+        c.init_vel = matrix([0., 1., 1.])
+        c.end_vel = matrix([0., 1., 1.])
+        c.init_acc = matrix([0., 1., -1.])
+        c.end_acc = matrix([0., 100., 1.])
+
+        a = bezier(waypoints, c)
+        self.assertLess(norm(a.derivate(0, 1) - c.init_vel), 1e-10)
+        self.assertLess(norm(a.derivate(1, 2) - c.end_acc), 1e-10)
+
+        # testing polynom function
+        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)
+
+        # testing exact_cubic function
+        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)
+
+        # testing spline_deriv_constraints
+        c = curve_constraints()
+        c.init_vel
+        c.end_vel
+        c.init_acc
+        c.end_acc
+
+        c.init_vel = matrix([0., 1., 1.])
+        c.end_vel = matrix([0., 1., 1.])
+        c.init_acc = matrix([0., 1., 1.])
+        c.end_acc = matrix([0., 1., 1.])
+
+        a = spline_deriv_constraint(waypoints, time_waypoints)
+        a = spline_deriv_constraint(waypoints, time_waypoints, c)
+
+
+if __name__ == '__main__':
+    unittest.main()