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AtsushiSakaiAtsushiSakai
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improve test coverage (AtsushiSakai#352)
* improve test coverage * improve test coverage * add coveralls CI * add coveralls CI * remove cover alls
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-75
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2 files changed

+80
-75
lines changed

‎Bipedal/bipedal_planner/bipedal_planner.py‎

Lines changed: 79 additions & 74 deletions
Original file line numberDiff line numberDiff line change
@@ -110,83 +110,88 @@ def walk(self, t_sup=0.8, z_c=0.8, a=10, b=1, plot=False):
110110

111111
# plot
112112
if plot:
113-
# for plot trajectory, plot in for loop
114-
for c in range(len(self.com_trajectory)):
115-
if c > len(com_trajectory_for_plot):
116-
# set up plotter
117-
plt.cla()
118-
# for stopping simulation with the esc key.
119-
plt.gcf().canvas.mpl_connect(
120-
'key_release_event',
121-
lambda event:
122-
[exit(0) if event.key == 'escape' else None])
123-
ax.set_zlim(0, z_c * 2)
124-
ax.set_xlim(0, 1)
125-
ax.set_ylim(-0.5, 0.5)
126-
127-
# update com_trajectory_for_plot
128-
com_trajectory_for_plot.append(self.com_trajectory[c])
129-
130-
# plot com
131-
ax.plot([p[0] for p in com_trajectory_for_plot],
132-
[p[1] for p in com_trajectory_for_plot], [
133-
0 for _ in com_trajectory_for_plot],
134-
color="red")
135-
136-
# plot inverted pendulum
137-
ax.plot([px_star, com_trajectory_for_plot[-1][0]],
138-
[py_star, com_trajectory_for_plot[-1][1]],
139-
[0, z_c], color="green", linewidth=3)
140-
ax.scatter([com_trajectory_for_plot[-1][0]],
141-
[com_trajectory_for_plot[-1][1]],
142-
[z_c], color="green", s=300)
143-
144-
# foot rectangle for self.ref_p
145-
foot_width = 0.06
146-
foot_height = 0.04
147-
for j in range(len(self.ref_p)):
148-
angle = self.ref_p[j][2] + \
149-
math.atan2(foot_height,
150-
foot_width) - math.pi
151-
r = math.sqrt(
152-
math.pow(foot_width / 3., 2) + math.pow(
153-
foot_height / 2., 2))
154-
rec = pat.Rectangle(xy=(
155-
self.ref_p[j][0] + r * math.cos(angle),
156-
self.ref_p[j][1] + r * math.sin(angle)),
157-
width=foot_width,
158-
height=foot_height,
159-
angle=self.ref_p[j][
160-
2] * 180 / math.pi,
161-
color="blue", fill=False,
162-
ls=":")
163-
ax.add_patch(rec)
164-
art3d.pathpatch_2d_to_3d(rec, z=0, zdir="z")
165-
166-
# foot rectangle for self.act_p
167-
for j in range(len(self.act_p)):
168-
angle = self.act_p[j][2] + \
169-
math.atan2(foot_height,
170-
foot_width) - math.pi
171-
r = math.sqrt(
172-
math.pow(foot_width / 3., 2) + math.pow(
173-
foot_height / 2., 2))
174-
rec = pat.Rectangle(xy=(
175-
self.act_p[j][0] + r * math.cos(angle),
176-
self.act_p[j][1] + r * math.sin(angle)),
177-
width=foot_width,
178-
height=foot_height,
179-
angle=self.act_p[j][
180-
2] * 180 / math.pi,
181-
color="blue", fill=False)
182-
ax.add_patch(rec)
183-
art3d.pathpatch_2d_to_3d(rec, z=0, zdir="z")
184-
185-
plt.draw()
186-
plt.pause(0.001)
113+
self.plot_animation(ax, com_trajectory_for_plot, px_star,
114+
py_star, z_c)
187115
if plot:
188116
plt.show()
189117

118+
def plot_animation(self, ax, com_trajectory_for_plot, px_star, py_star,
119+
z_c): # pragma: no cover
120+
# for plot trajectory, plot in for loop
121+
for c in range(len(self.com_trajectory)):
122+
if c > len(com_trajectory_for_plot):
123+
# set up plotter
124+
plt.cla()
125+
# for stopping simulation with the esc key.
126+
plt.gcf().canvas.mpl_connect(
127+
'key_release_event',
128+
lambda event:
129+
[exit(0) if event.key == 'escape' else None])
130+
ax.set_zlim(0, z_c * 2)
131+
ax.set_xlim(0, 1)
132+
ax.set_ylim(-0.5, 0.5)
133+
134+
# update com_trajectory_for_plot
135+
com_trajectory_for_plot.append(self.com_trajectory[c])
136+
137+
# plot com
138+
ax.plot([p[0] for p in com_trajectory_for_plot],
139+
[p[1] for p in com_trajectory_for_plot], [
140+
0 for _ in com_trajectory_for_plot],
141+
color="red")
142+
143+
# plot inverted pendulum
144+
ax.plot([px_star, com_trajectory_for_plot[-1][0]],
145+
[py_star, com_trajectory_for_plot[-1][1]],
146+
[0, z_c], color="green", linewidth=3)
147+
ax.scatter([com_trajectory_for_plot[-1][0]],
148+
[com_trajectory_for_plot[-1][1]],
149+
[z_c], color="green", s=300)
150+
151+
# foot rectangle for self.ref_p
152+
foot_width = 0.06
153+
foot_height = 0.04
154+
for j in range(len(self.ref_p)):
155+
angle = self.ref_p[j][2] + \
156+
math.atan2(foot_height,
157+
foot_width) - math.pi
158+
r = math.sqrt(
159+
math.pow(foot_width / 3., 2) + math.pow(
160+
foot_height / 2., 2))
161+
rec = pat.Rectangle(xy=(
162+
self.ref_p[j][0] + r * math.cos(angle),
163+
self.ref_p[j][1] + r * math.sin(angle)),
164+
width=foot_width,
165+
height=foot_height,
166+
angle=self.ref_p[j][
167+
2] * 180 / math.pi,
168+
color="blue", fill=False,
169+
ls=":")
170+
ax.add_patch(rec)
171+
art3d.pathpatch_2d_to_3d(rec, z=0, zdir="z")
172+
173+
# foot rectangle for self.act_p
174+
for j in range(len(self.act_p)):
175+
angle = self.act_p[j][2] + \
176+
math.atan2(foot_height,
177+
foot_width) - math.pi
178+
r = math.sqrt(
179+
math.pow(foot_width / 3., 2) + math.pow(
180+
foot_height / 2., 2))
181+
rec = pat.Rectangle(xy=(
182+
self.act_p[j][0] + r * math.cos(angle),
183+
self.act_p[j][1] + r * math.sin(angle)),
184+
width=foot_width,
185+
height=foot_height,
186+
angle=self.act_p[j][
187+
2] * 180 / math.pi,
188+
color="blue", fill=False)
189+
ax.add_patch(rec)
190+
art3d.pathpatch_2d_to_3d(rec, z=0, zdir="z")
191+
192+
plt.draw()
193+
plt.pause(0.001)
194+
190195

191196
if __name__ == "__main__":
192197
bipedal_planner = BipedalPlanner()

‎PathPlanning/CubicSpline/cubic_spline_planner.py‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -190,7 +190,7 @@ def calc_spline_course(x, y, ds=0.1):
190190
return rx, ry, ryaw, rk, s
191191

192192

193-
def main():
193+
def main(): # pragma: no cover
194194
print("Spline 2D test")
195195
import matplotlib.pyplot as plt
196196
x = [-2.5, 0.0, 2.5, 5.0, 7.5, 3.0, -1.0]

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