From 245838250bc1c2e23ee826026157aeb70d3116a5 Mon Sep 17 00:00:00 2001
From: Atsushi Sakai <asakai.amsl+github@gmail.com>
Date: Sun, 20 Oct 2019 15:00:57 +0900
Subject: [PATCH] fix unittests.

---
 PathPlanning/LQRPlanner/LQRplanner.py                | 4 ++--
 tests/test_drone_3d_trajectory_following.py          | 8 +++++---
 tests/test_grid_based_sweep_coverage_path_planner.py | 3 +++
 tests/test_n_joint_arm_to_point_control.py           | 8 +++++---
 4 files changed, 15 insertions(+), 8 deletions(-)

diff --git a/PathPlanning/LQRPlanner/LQRplanner.py b/PathPlanning/LQRPlanner/LQRplanner.py
index e2000a95..5a0b453f 100644
--- a/PathPlanning/LQRPlanner/LQRplanner.py
+++ b/PathPlanning/LQRPlanner/LQRplanner.py
@@ -25,7 +25,7 @@ class LQRPlanner:
         self.MAX_ITER = 150
         self.EPS = 0.01
 
-    def lqr_planning(self, sx, sy, gx, gy, show_animation=SHOW_ANIMATION):
+    def lqr_planning(self, sx, sy, gx, gy, show_animation=True):
 
         rx, ry = [sx], [sy]
 
@@ -129,7 +129,7 @@ def main():
         gx = random.uniform(-area, area)
         gy = random.uniform(-area, area)
 
-        rx, ry = lqr_planner.lqr_planning(sx, sy, gx, gy)
+        rx, ry = lqr_planner.lqr_planning(sx, sy, gx, gy, show_animation=SHOW_ANIMATION)
 
         if SHOW_ANIMATION:  # pragma: no cover
             plt.plot(sx, sy, "or")
diff --git a/tests/test_drone_3d_trajectory_following.py b/tests/test_drone_3d_trajectory_following.py
index 194a3299..dfadcdae 100644
--- a/tests/test_drone_3d_trajectory_following.py
+++ b/tests/test_drone_3d_trajectory_following.py
@@ -1,9 +1,11 @@
+import os
+import sys
 from unittest import TestCase
 
-import sys
-sys.path.append("./AerialNavigation/drone_3d_trajectory_following/")
+sys.path.append(os.path.dirname(__file__) + "/../AerialNavigation/drone_3d_trajectory_following/")
+
+import drone_3d_trajectory_following as m
 
-from AerialNavigation.drone_3d_trajectory_following import drone_3d_trajectory_following as m
 print(__file__)
 
 
diff --git a/tests/test_grid_based_sweep_coverage_path_planner.py b/tests/test_grid_based_sweep_coverage_path_planner.py
index 39333567..fa2d0a7a 100644
--- a/tests/test_grid_based_sweep_coverage_path_planner.py
+++ b/tests/test_grid_based_sweep_coverage_path_planner.py
@@ -9,6 +9,9 @@ try:
 except ImportError:
     raise
 
+grid_based_sweep_coverage_path_planner.do_animation = False
+
+
 class TestPlanning(TestCase):
 
     def test_planning1(self):
diff --git a/tests/test_n_joint_arm_to_point_control.py b/tests/test_n_joint_arm_to_point_control.py
index e3988355..a9352164 100644
--- a/tests/test_n_joint_arm_to_point_control.py
+++ b/tests/test_n_joint_arm_to_point_control.py
@@ -1,9 +1,11 @@
+import os
+import sys
 from unittest import TestCase
 
-import sys
-sys.path.append("./ArmNavigation/n_joint_arm_to_point_control/")
+sys.path.append(os.path.dirname(__file__) + "/../ArmNavigation/n_joint_arm_to_point_control/")
+
+import n_joint_arm_to_point_control as m
 
-from ArmNavigation.n_joint_arm_to_point_control import n_joint_arm_to_point_control as m
 print(__file__)