F#305 unit test planners

shadow-robot / sr-ros-interface

A ROS interface for Shadow Robot's hand.

GNU General Public License v2.0

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F#305 unit test planners #314

Closed beatrizleon closed 9 years ago

beatrizleon commented 9 years ago

Added unit test to motion planners.

Tested multiple trajectories on an empty environment. Checking it is not planning when in self-collision. Also tested trajectories when adding walls and ground. Checking it is not planning when in collision with goals or ground. Added a function to test to plan to move each joint but it was causing some planners to fail due to lasting too much so it is commented.

Testing 9 planners takes aprox 4 min.

Still missing to find a way to increase the planning attempts because some trajectories sometimes fail and it does not try to plan again.

landscape-bot commented 9 years ago

Code quality remained the same when pulling ff6d1a9 on shadow-robot:F#305_unit_test_planners into 634e113 on shadow-robot:indigo-devel.

ugocupcic commented 9 years ago

It would need to be generalised to test the left arm as well. For this you probably should create a new sr_multi_moveit_test package in sr_multi_moveit directory. Then run the same test on both configurations.

ugocupcic commented 9 years ago

Happy to merge once it's testing left arm too.

landscape-bot commented 9 years ago

Code quality remained the same when pulling 912e11e on shadow-robot:F#305_unit_test_planners into 634e113 on shadow-robot:indigo-devel.

landscape-bot commented 9 years ago

Code quality remained the same when pulling f7cf9e6 on shadow-robot:F#305_unit_test_planners into 634e113 on shadow-robot:indigo-devel.

landscape-bot commented 9 years ago

Code quality remained the same when pulling 588d750 on shadow-robot:F#305_unit_test_planners into 9fe6581 on shadow-robot:indigo-devel.

landscape-bot commented 9 years ago

Code quality remained the same when pulling ba355be on shadow-robot:F#305_unit_test_planners into 2f8e7ee on shadow-robot:indigo-devel.