mirror of
https://github.com/AtsushiSakai/PythonRobotics.git
synced 2026-04-22 03:00:22 -04:00
improve test coverage (#352)
* improve test coverage * improve test coverage * add coveralls CI * add coveralls CI * remove cover alls
This commit is contained in:
Atsushi Sakai
@@ -110,83 +110,88 @@ class BipedalPlanner(object):
|
||||
|
||||
# plot
|
||||
if plot:
|
||||
# for plot trajectory, plot in for loop
|
||||
for c in range(len(self.com_trajectory)):
|
||||
if c > len(com_trajectory_for_plot):
|
||||
# set up plotter
|
||||
plt.cla()
|
||||
# for stopping simulation with the esc key.
|
||||
plt.gcf().canvas.mpl_connect(
|
||||
'key_release_event',
|
||||
lambda event:
|
||||
[exit(0) if event.key == 'escape' else None])
|
||||
ax.set_zlim(0, z_c * 2)
|
||||
ax.set_xlim(0, 1)
|
||||
ax.set_ylim(-0.5, 0.5)
|
||||
|
||||
# update com_trajectory_for_plot
|
||||
com_trajectory_for_plot.append(self.com_trajectory[c])
|
||||
|
||||
# plot com
|
||||
ax.plot([p[0] for p in com_trajectory_for_plot],
|
||||
[p[1] for p in com_trajectory_for_plot], [
|
||||
0 for _ in com_trajectory_for_plot],
|
||||
color="red")
|
||||
|
||||
# plot inverted pendulum
|
||||
ax.plot([px_star, com_trajectory_for_plot[-1][0]],
|
||||
[py_star, com_trajectory_for_plot[-1][1]],
|
||||
[0, z_c], color="green", linewidth=3)
|
||||
ax.scatter([com_trajectory_for_plot[-1][0]],
|
||||
[com_trajectory_for_plot[-1][1]],
|
||||
[z_c], color="green", s=300)
|
||||
|
||||
# foot rectangle for self.ref_p
|
||||
foot_width = 0.06
|
||||
foot_height = 0.04
|
||||
for j in range(len(self.ref_p)):
|
||||
angle = self.ref_p[j][2] + \
|
||||
math.atan2(foot_height,
|
||||
foot_width) - math.pi
|
||||
r = math.sqrt(
|
||||
math.pow(foot_width / 3., 2) + math.pow(
|
||||
foot_height / 2., 2))
|
||||
rec = pat.Rectangle(xy=(
|
||||
self.ref_p[j][0] + r * math.cos(angle),
|
||||
self.ref_p[j][1] + r * math.sin(angle)),
|
||||
width=foot_width,
|
||||
height=foot_height,
|
||||
angle=self.ref_p[j][
|
||||
2] * 180 / math.pi,
|
||||
color="blue", fill=False,
|
||||
ls=":")
|
||||
ax.add_patch(rec)
|
||||
art3d.pathpatch_2d_to_3d(rec, z=0, zdir="z")
|
||||
|
||||
# foot rectangle for self.act_p
|
||||
for j in range(len(self.act_p)):
|
||||
angle = self.act_p[j][2] + \
|
||||
math.atan2(foot_height,
|
||||
foot_width) - math.pi
|
||||
r = math.sqrt(
|
||||
math.pow(foot_width / 3., 2) + math.pow(
|
||||
foot_height / 2., 2))
|
||||
rec = pat.Rectangle(xy=(
|
||||
self.act_p[j][0] + r * math.cos(angle),
|
||||
self.act_p[j][1] + r * math.sin(angle)),
|
||||
width=foot_width,
|
||||
height=foot_height,
|
||||
angle=self.act_p[j][
|
||||
2] * 180 / math.pi,
|
||||
color="blue", fill=False)
|
||||
ax.add_patch(rec)
|
||||
art3d.pathpatch_2d_to_3d(rec, z=0, zdir="z")
|
||||
|
||||
plt.draw()
|
||||
plt.pause(0.001)
|
||||
self.plot_animation(ax, com_trajectory_for_plot, px_star,
|
||||
py_star, z_c)
|
||||
if plot:
|
||||
plt.show()
|
||||
|
||||
def plot_animation(self, ax, com_trajectory_for_plot, px_star, py_star,
|
||||
z_c): # pragma: no cover
|
||||
# for plot trajectory, plot in for loop
|
||||
for c in range(len(self.com_trajectory)):
|
||||
if c > len(com_trajectory_for_plot):
|
||||
# set up plotter
|
||||
plt.cla()
|
||||
# for stopping simulation with the esc key.
|
||||
plt.gcf().canvas.mpl_connect(
|
||||
'key_release_event',
|
||||
lambda event:
|
||||
[exit(0) if event.key == 'escape' else None])
|
||||
ax.set_zlim(0, z_c * 2)
|
||||
ax.set_xlim(0, 1)
|
||||
ax.set_ylim(-0.5, 0.5)
|
||||
|
||||
# update com_trajectory_for_plot
|
||||
com_trajectory_for_plot.append(self.com_trajectory[c])
|
||||
|
||||
# plot com
|
||||
ax.plot([p[0] for p in com_trajectory_for_plot],
|
||||
[p[1] for p in com_trajectory_for_plot], [
|
||||
0 for _ in com_trajectory_for_plot],
|
||||
color="red")
|
||||
|
||||
# plot inverted pendulum
|
||||
ax.plot([px_star, com_trajectory_for_plot[-1][0]],
|
||||
[py_star, com_trajectory_for_plot[-1][1]],
|
||||
[0, z_c], color="green", linewidth=3)
|
||||
ax.scatter([com_trajectory_for_plot[-1][0]],
|
||||
[com_trajectory_for_plot[-1][1]],
|
||||
[z_c], color="green", s=300)
|
||||
|
||||
# foot rectangle for self.ref_p
|
||||
foot_width = 0.06
|
||||
foot_height = 0.04
|
||||
for j in range(len(self.ref_p)):
|
||||
angle = self.ref_p[j][2] + \
|
||||
math.atan2(foot_height,
|
||||
foot_width) - math.pi
|
||||
r = math.sqrt(
|
||||
math.pow(foot_width / 3., 2) + math.pow(
|
||||
foot_height / 2., 2))
|
||||
rec = pat.Rectangle(xy=(
|
||||
self.ref_p[j][0] + r * math.cos(angle),
|
||||
self.ref_p[j][1] + r * math.sin(angle)),
|
||||
width=foot_width,
|
||||
height=foot_height,
|
||||
angle=self.ref_p[j][
|
||||
2] * 180 / math.pi,
|
||||
color="blue", fill=False,
|
||||
ls=":")
|
||||
ax.add_patch(rec)
|
||||
art3d.pathpatch_2d_to_3d(rec, z=0, zdir="z")
|
||||
|
||||
# foot rectangle for self.act_p
|
||||
for j in range(len(self.act_p)):
|
||||
angle = self.act_p[j][2] + \
|
||||
math.atan2(foot_height,
|
||||
foot_width) - math.pi
|
||||
r = math.sqrt(
|
||||
math.pow(foot_width / 3., 2) + math.pow(
|
||||
foot_height / 2., 2))
|
||||
rec = pat.Rectangle(xy=(
|
||||
self.act_p[j][0] + r * math.cos(angle),
|
||||
self.act_p[j][1] + r * math.sin(angle)),
|
||||
width=foot_width,
|
||||
height=foot_height,
|
||||
angle=self.act_p[j][
|
||||
2] * 180 / math.pi,
|
||||
color="blue", fill=False)
|
||||
ax.add_patch(rec)
|
||||
art3d.pathpatch_2d_to_3d(rec, z=0, zdir="z")
|
||||
|
||||
plt.draw()
|
||||
plt.pause(0.001)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
bipedal_planner = BipedalPlanner()
|
||||
|
||||
@@ -190,7 +190,7 @@ def calc_spline_course(x, y, ds=0.1):
|
||||
return rx, ry, ryaw, rk, s
|
||||
|
||||
|
||||
def main():
|
||||
def main(): # pragma: no cover
|
||||
print("Spline 2D test")
|
||||
import matplotlib.pyplot as plt
|
||||
x = [-2.5, 0.0, 2.5, 5.0, 7.5, 3.0, -1.0]
|
||||
|
||||
Reference in New Issue
Block a user