def test_assign_in_reference(self):
planner = core.PipelinePlanner()
props = planner.properties
props["goal_joint_tolerance"] = 3.14
self.assertEqual(props["goal_joint_tolerance"], 3.14)
self.assertEqual(planner.goal_joint_tolerance, 3.14)
planner.goal_joint_tolerance = 2.71
self.assertEqual(props["goal_joint_tolerance"], 2.71)
props["planner"] = "planner"
self.assertEqual(props["planner"], "planner")
self.assertEqual(planner.planner, "planner")
props["double"] = 3.14
a = props
props["double"] = 2.71
self.assertEqual(a["double"], 2.71)
planner.planner = "other"
self.assertEqual(props["planner"], "other")
self.assertEqual(planner.planner, "other")
del planner
# TODO: Why can we still access props? planner should be destroyed
self.assertEqual(props["goal_joint_tolerance"], 2.71)
self.assertEqual(props["planner"], "other")
def test_assign_in_reference(self):
planner = core.PipelinePlanner()
props = planner.properties
props["goal_joint_tolerance"] = 3.14
self.assertEqual(props["goal_joint_tolerance"], 3.14)
self.assertEqual(planner.goal_joint_tolerance, 3.14)
planner.goal_joint_tolerance = 2.71
self.assertEqual(props["goal_joint_tolerance"], 2.71)
props["planner"] = "planner"
self.assertEqual(props["planner"], "planner")
self.assertEqual(planner.planner, "planner")
props["double"] = 3.14
a = props
props["double"] = 2.71
self.assertEqual(a["double"], 2.71)
planner.planner = "other"
self.assertEqual(props["planner"], "other")
self.assertEqual(planner.planner, "other")
del planner
# We can still access props, because actual destruction of planner is delayed
self.assertEqual(props["goal_joint_tolerance"], 2.71)
self.assertEqual(props["planner"], "other")
def test_MoveRelative(self):
task = core.Task()
task.add(stages.CurrentState("current"))
move = stages.MoveRelative("move", core.PipelinePlanner())
move.group = self.PLANNING_GROUP
move.setDirection({"joint_1" : 0.2, "joint_2" : 0.4})
task.add(move)
task.enableIntrospection()
task.init()
task.plan()
self.assertEqual(len(task.solutions), 1)
for s in task.solutions:
print s
s = task.solutions[0]
task.execute(s)
def test_Connect(self):
planner = core.PipelinePlanner()
planner2 = core.PipelinePlanner()
stage = stages.Connect("connect", [("planner", planner),
("planner2", planner2)])
def __init__(self, *args, **kwargs):
super(TestStages, self).__init__(*args, **kwargs)
self.planner = core.PipelinePlanner()
def test_Connect(self):
planner = core.PipelinePlanner()
stage = stages.Connect("connect", [("group1", planner),
("group2", planner)])