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)