def local_check_path(state1, state2):
it = local_planner.plan_path(state1, state2)
path_planner_util.check_it_equal_to_state(it, state1)
it.advance(it.travel_time)
assert (it.finished())
path_planner_util.check_it_equal_to_state(it, state2)
it.reset()
path_planner_util.check_it_equal_to_state(it, state1)
path_planner_util.check_path(it)
assert (it.finished())
path_planner_util.check_it_equal_to_state(it, state2)
def check_path(states):
times = [local_planner.plan_path(s1, s2).travel_time
for s1, s2 in zip(states[:-1], states[1:])]
it = prm._PathIterator(states)
path_planner_util.check_it_equal_to_state(it, states[0])
for time, state in zip(times, states[1:]):
it.advance(time)
path_planner_util.check_it_equal_to_state(it, state)
it.reset()
path_planner_util.check_path(it)
def local_check_path(state1, state2):
it = local_planner.plan_path(state1, state2)
path_planner_util.check_it_equal_to_state(it, state1)
it.advance(it.travel_time)
assert(it.finished())
path_planner_util.check_it_equal_to_state(it, state2)
it.reset()
path_planner_util.check_it_equal_to_state(it, state1)
path_planner_util.check_path(it)
assert(it.finished())
path_planner_util.check_it_equal_to_state(it, state2)
def check_path(states):
times = [
local_planner.plan_path(s1, s2).travel_time
for s1, s2 in zip(states[:-1], states[1:])
]
it = prm._PathIterator(states)
path_planner_util.check_it_equal_to_state(it, states[0])
for time, state in zip(times, states[1:]):
it.advance(time)
path_planner_util.check_it_equal_to_state(it, state)
it.reset()
path_planner_util.check_path(it)