The sns_ik_examples package contains two test scripts that exercise the position and velocity solvers, but these scripts have a few major problems:
1) They are non-deterministic. This means that the result changes on each call, which makes them useless for regression testing.
2) They are not automatic. A developer must manually run and inspect the result of each test individually.
Before we make any significant changes to the code it is important that we get a set of deterministic tests in place so that we can prevent any regression in the code. It would also be good if these tests did not depend on an external package so that they are repeatable.
The sns_ik_examples package contains two test scripts that exercise the position and velocity solvers, but these scripts have a few major problems: 1) They are non-deterministic. This means that the result changes on each call, which makes them useless for regression testing. 2) They are not automatic. A developer must manually run and inspect the result of each test individually.
Before we make any significant changes to the code it is important that we get a set of deterministic tests in place so that we can prevent any regression in the code. It would also be good if these tests did not depend on an external package so that they are repeatable.