optimize test

tests/test_closed_loop_rrt_star_car.py

@@ -1,6 +1,14 @@
 from unittest import TestCase
+import sys
+import os
+sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../")
+sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
+                "/../PathPlanning/ClosedLoopRRTStar/")
+try:
+    from PathPlanning.ClosedLoopRRTStar import closed_loop_rrt_star_car as m
+except:
+    raise
 
-from SLAM.iterative_closest_point import iterative_closest_point as m
 
 print(__file__)
 
@@ -9,4 +17,9 @@ class Test(TestCase):
 
     def test1(self):
         m.show_animation = False
-        m.main()
+        m.main(gx=1.0, gy=0.0, gyaw=0.0, maxIter=5)
+
+
+if __name__ == '__main__':
+    test = Test()
+    test.test1()

tests/test_informed_rrt_star.py

@@ -1,6 +1,13 @@
 from unittest import TestCase
-
-from PathPlanning.InformedRRTStar import informed_rrt_star as m
+import sys
+import os
+sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../")
+sys.path.append(os.path.dirname(os.path.abspath(__file__))
+                + "/../PathPlanning/InformedRRTStar/")
+try:
+    from PathPlanning.InformedRRTStar import informed_rrt_star as m
+except:
+    raise
 
 print(__file__)
 
@@ -10,3 +17,8 @@ class Test(TestCase):
     def test1(self):
         m.show_animation = False
         m.main()
+
+
+if __name__ == '__main__':
+    test = Test()
+    test.test1()

tests/test_lqr_rrt_star.py

@@ -1,9 +1,13 @@
 from unittest import TestCase
-
 import sys
-sys.path.append("./PathPlanning/LQRRRTStar/")
-
-from PathPlanning.LQRRRTStar import lqr_rrt_star as m
+import os
+sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../")
+sys.path.append(os.path.dirname(os.path.abspath(__file__))
+                + "/../PathPlanning/LQRRRTStar/")
+try:
+    from PathPlanning.LQRRRTStar import lqr_rrt_star as m
+except:
+    raise
 
 print(__file__)
 
@@ -12,4 +16,9 @@ class Test(TestCase):
 
     def test1(self):
         m.show_animation = False
-        m.main()
+        m.main(maxIter=5)
+
+
+if __name__ == '__main__':
+    test = Test()
+    test.test1()

tests/test_rrt_dubins.py

@@ -1,11 +1,13 @@
 from unittest import TestCase
 import sys
-sys.path.append("./PathPlanning/RRTDubins/")
-sys.path.append("./PathPlanning/DubinsPath/")
+import os
+sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
+                "/../PathPlanning/RRTDubins/")
+sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
+                "/../PathPlanning/DubinsPath/")
 
 try:
-    from PathPlanning.RRTDubins import rrt_dubins as m
-    # from RRTDubins import rrt_dubins as m
+    import rrt_dubins as m
 except:
     raise
 
@@ -18,3 +20,8 @@ class Test(TestCase):
     def test1(self):
         m.show_animation = False
         m.main()
+
+
+if __name__ == '__main__':
+    test = Test()
+    test.test1()

tests/test_rrt_star.py

@@ -1,6 +1,14 @@
 from unittest import TestCase
+import sys
+import os
+sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
+                "/../PathPlanning/RRTStar/")
+
+try:
+    import rrt_star as m
+except:
+    raise
 
-from PathPlanning.RRTstar import rrt_star as m
 
 print(__file__)
 
@@ -10,3 +18,8 @@ class Test(TestCase):
     def test1(self):
         m.show_animation = False
         m.main()
+
+
+if __name__ == '__main__':
+    test = Test()
+    test.test1()

tests/test_rrt_star_dubins.py

@@ -1,9 +1,14 @@
 from unittest import TestCase
 
 import sys
-sys.path.append("./PathPlanning/RRTStarDubins/")
+import os
+sys.path.append(os.path.dirname(os.path.abspath(__file__))
+                + "/../PathPlanning/RRTStarDubins/")
 
-from PathPlanning.RRTStarDubins import rrt_star_dubins as m
+try:
+    import rrt_star_dubins as m
+except:
+    raise
 
 print(__file__)
 
@@ -13,3 +18,8 @@ class Test(TestCase):
     def test1(self):
         m.show_animation = False
         m.main()
+
+
+if __name__ == '__main__':
+    test = Test()
+    test.test1()

tests/test_rrt_star_reeds_shepp.py

@@ -1,10 +1,17 @@
 from unittest import TestCase
 
 import sys
-sys.path.append("./PathPlanning/RRTStarReedsShepp/")
-sys.path.append("./PathPlanning/ReedsSheppPath/")
+import os
+sys.path.append(os.path.dirname(os.path.abspath(__file__))
+                + "/../PathPlanning/RRTStarReedsShepp/")
+sys.path.append(os.path.dirname(os.path.abspath(__file__))
+                + "/../PathPlanning/ReedsSheppPath/")
+
+try:
+    import rrt_star_reeds_shepp as m
+except:
+    raise
 
-from PathPlanning.RRTStarReedsShepp import rrt_star_reeds_shepp as m
 
 print(__file__)
 
@@ -13,4 +20,9 @@ class Test(TestCase):
 
     def test1(self):
         m.show_animation = False
-        m.main()
+        m.main(maxIter=5)
+
+
+if __name__ == '__main__':
+    test = Test()
+    test.test1()

tests/test_state_lattice_planner.py

@@ -1,12 +1,18 @@
 from unittest import TestCase
 
 import sys
-sys.path.append("./PathPlanning/ModelPredictiveTrajectoryGenerator/")
-sys.path.append("./PathPlanning/StateLatticePlanner/")
 
-from PathPlanning.StateLatticePlanner import state_lattice_planner as m
+import os
+sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
+                "/../PathPlanning/ModelPredictiveTrajectoryGenerator/")
+sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
+                "/../PathPlanning/StateLatticePlanner/")
 
-m.table_path = "./PathPlanning/StateLatticePlanner/lookuptable.csv"
+try:
+    import state_lattice_planner as m
+    import model_predictive_trajectory_generator as m2
+except:
+    raise
 
 print(__file__)
 
@@ -15,4 +21,10 @@ class Test(TestCase):
 
     def test1(self):
         m.show_animation = False
+        m2.show_animation = False
         m.main()
+
+
+if __name__ == '__main__':
+    test = Test()
+    test.test1()