def test3g(self):
# files = ['./testcases/3g3_m1.txt','./testcases/4g3_m2.txt']
# colide
# check collision more times in long distance one
# files = ['./testcases/g2_m1.txt','./testcases/3g2_m2.txt']
files = ['./testcases/4g3_m1.txt']
# files = ['./testcases/4g3_m2.txt']
# no result
# files = ['./testcases/3g2_m2.txt','./testcases/3g3_m1.txt']
# use global is enough, or the last with local
# files = ['./testcases/3g2_m1.txt','./testcases/3g2_m2.txt', './testcases/3g3_m1.txt']
files = [
'./testcases/3g1_m0.txt', './testcases/3g1_m1.txt',
'./testcases/3g1_m2.txt', './testcases/4g1_m1.txt',
'./testcases/4g1_m2.txt', './testcases/3g2_m1.txt',
'./testcases/3g2_m2.txt', './testcases/3g3_m1.txt'
]
for i in range(len(files)):
fileName = files[i].split('/')[-1]
sol = './out/' + fileName[:-4] + '_output.txt'
prm = PRM(files[i])
flagPRM, ee1flag = prm.run_PRM(sol)
# flagPRM=True
if flagPRM:
aa = test_robot(prm)
qq = aa.load_output(sol)
strlist = []
for j in qq:
strlist.append(str(j))
# ee1flag=[]
gginterpolat = Interpolation(strlist, ee1flag)
interpolation_path = sol[:-4] + '_ip.txt'
print("Run interpolation")
gg = gginterpolat.run_Interpolate()
write_sampling_config(interpolation_path, prm.num_segments, gg)
result = tester_main(files[i], interpolation_path)
if (result == 0):
print(files[i] + ' success')
else:
print(files[i] + ' fails')
else:
print(files[i] + ' fails')
result = 1
self.assertEqual(result, 0)
def main(arglist):
# def main():
inputfilename = arglist[0]
sol = inputfilename + '_output.txt'
# interpolation_path = sol[:-4] +'_ip.txt'
interpolation_path = arglist[1]
prm = PRM(inputfilename)
flagPRM, ee1flag = prm.run_PRM(sol)
# flagPRM=True
aa = test_robot(prm)
qq = aa.load_output(sol)
strlist = []
for j in qq:
strlist.append(str(j))
# ee1flag=[]
gginterpolat = Interpolation(strlist, ee1flag)
print("Run interpolation")
gg = gginterpolat.run_Interpolate()
write_sampling_config(interpolation_path, prm.num_segments, gg)
def test3g(self):
files = ['./testcases/4g1_m1.txt']
for i in range(len(files)):
fileName = files[i].split('/')[-1]
sol = './out/' + fileName[:-4] + '_output.txt'
prm = EST(files[i])
prm.run_EST(sol)
aa = test_robot(prm)
qq = aa.load_output(sol)
strlist = []
for j in qq:
strlist.append(str(j))
gginterpolat = Interpolation(strlist)
interpolation_path = sol[:-4] + '_ip.txt'
gg = gginterpolat.run_Interpolate()
write_sampling_config(interpolation_path, prm.num_segments, gg)
result = tester_main(files[i], interpolation_path)
if (result == 0):
print(files[i] + ' success')
else:
print(files[i] + ' fails')
self.assertEqual(result, 0)