update tests

Author: reiniscimurs

robot_nav/sim.py

@@ -26,7 +26,8 @@ def __init__(self, world_file="robot_world.yaml", disable_plotting=False):
             world_file (str): Path to the world configuration YAML file.
             disable_plotting (bool): If True, disables rendering and plotting.
         """
-        self.env = irsim.make(world_file, disable_all_plot=disable_plotting)
+        display = False if disable_plotting else True
+        self.env = irsim.make(world_file, disable_all_plot=disable_plotting, display=display)
         robot_info = self.env.get_robot_info(0)
         self.robot_goal = robot_info.goal
 
@@ -84,7 +85,7 @@ def reset(
                    and reward-related flags and values.
         """
         if robot_state is None:
-            robot_state = [[random.uniform(1, 9)], [random.uniform(1, 9)], [0], [0]]
+            robot_state = [[random.uniform(1, 9)], [random.uniform(1, 9)], [0]]
 
         self.env.robot.set_state(
             state=np.array(robot_state),

tests/test_sim.py

@@ -1,3 +1,5 @@
+import pytest
+
 from robot_nav.path_planners.probabilistic_road_map import PRMPlanner
 from robot_nav.path_planners.rrt import RRT
 from robot_nav.sim import SIM_ENV
@@ -29,27 +31,17 @@ def test_sincos():
     assert np.isclose(cos, 0)
     assert np.isclose(sin, 1)
 
-
-def test_astar_planner():
-    sim = SIM_ENV("/tests/test_world.yaml")
-    planner = AStarPlanner(env=sim, resolution=0.3)
-    robot_info = sim.env.get_robot_info()
-    robot_state = sim.env.get_robot_state()
-    sim.env.get_robot_info()
-    rx, ry = planner.planning(
-        robot_state[0].item(),
-        robot_state[1].item(),
-        robot_info.goal[0].item(),
-        robot_info.goal[1].item(),
-    )
-    plt.plot(rx, ry, "-r")
-    plt.pause(0.001)
-    plt.show()
-
-
-def test_prm_planner():
-    sim = SIM_ENV("/tests/test_world.yaml")
-    planner = PRMPlanner(env=sim, robot_radius=0.3)
+@pytest.mark.parametrize(
+    "planner, radius",
+    [
+        (AStarPlanner, 0.3),
+        (PRMPlanner, 0.3),
+        (RRT, 0.3),
+    ],
+)
+def test_planners(planner, radius):
+    sim = SIM_ENV("/tests/test_world.yaml", disable_plotting=True)
+    planner = planner(sim, radius)
     robot_info = sim.env.get_robot_info()
     robot_state = sim.env.get_robot_state()
     sim.env.get_robot_info()
@@ -59,25 +51,6 @@ def test_prm_planner():
         robot_info.goal[0].item(),
         robot_info.goal[1].item(),
     )
-
-    plt.plot(rx, ry, "-r")
-    plt.pause(0.001)
-    plt.show()
-
-
-def test_rrt_planner():
-    sim = SIM_ENV("/tests/test_world.yaml")
-    planner = RRT(env=sim, robot_radius=0.3)
-    robot_info = sim.env.get_robot_info()
-    robot_state = sim.env.get_robot_state()
-    sim.env.get_robot_info()
-    rx, ry = planner.planning(
-        robot_state[0].item(),
-        robot_state[1].item(),
-        robot_info.goal[0].item(),
-        robot_info.goal[1].item(),
-    )
-
     plt.plot(rx, ry, "-r")
     plt.pause(0.001)
     plt.show()