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#!/usr/bin/env python
######################################################################
# Software License Agreement (BSD License)
#
# Copyright (c) 2010, Rice University
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of the Rice University nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
######################################################################
# Author: Mark Moll
import sys
from os.path import abspath, dirname, join
sys.path.insert(0, join(dirname(dirname(dirname(abspath(__file__)))),'py-bindings') )
import unittest
from math import pi
from ompl.base import *
def isValid(state):
return True
class TestSO2(unittest.TestCase):
def testSimple(self):
m = SO2StateSpace()
s1 = SO2State(m)
s2 = SO2State(m)
s3 = SO2State(m)
s1().value = pi - 0.1
s2().value = -pi + 0.1
self.assertAlmostEqual(m.distance(s2(), s1()), 0.2, 3)
self.assertAlmostEqual(m.distance(s1(), s2()), 0.2, 3)
self.assertAlmostEqual(m.distance(s1(), s1()), 0.0, 3)
s1().value = pi - 0.08
m.interpolate(s1(), s2(), 0.5, s3())
self.assertAlmostEqual(s3().value, -pi+0.01, 3)
s1().value = pi - 0.1
s2().value = 0.1
self.assertAlmostEqual(m.distance(s2(), s1()), pi - 0.2, 3)
m.interpolate(s1(), s2(), 0.5, s3())
self.assertAlmostEqual(s3().value, pi / 2.0, 3)
class TestSO3(unittest.TestCase):
def testSimple(self):
m = SO3StateSpace()
s1 = SO3State(m)
s1.random()
s2 = s1;
self.assertAlmostEqual(m.distance(s1(),s2()), 0.0, 3)
s2.random()
si = SpaceInformation(m)
si.setStateValidityChecker(StateValidityCheckerFn(isValid))
si.setup()
states = vectorState()
count = si.getMotionStates(s1(), s2(), states, 10, True, True)
self.assertEqual(count, len(states))
for i in range(len(states)):
nrm = m.norm(states[i])
self.assertAlmostEqual(nrm, 1.0, 15)
si.freeState(states[i])
def suite():
suites = (
unittest.makeSuite(TestSO2),
unittest.makeSuite(TestSO3))
return unittest.TestSuite(suites)
if __name__ == '__main__':
unittest.main()
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