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)