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)])