[Tests] Add trivial python unit test

Author: nim65s

src/dynamic_graph/tutorial/simu.py

@@ -3,41 +3,45 @@
 import matplotlib.pyplot as pl
 import numpy as np
 
-# define inverted pendulum
-a = dgt.InvertedPendulum("IP")
-a.setCartMass(1.0)
-a.setPendulumMass(1.0)
-a.setPendulumLength(1.0)
 
-b = dgt.FeedbackController("K")
+def build_graph():
+    # define inverted pendulum
+    a = dgt.InvertedPendulum("IP")
+    a.setCartMass(1.0)
+    a.setPendulumMass(1.0)
+    a.setPendulumLength(1.0)
 
-# plug signals
-stateOut = a.signal('state')
-forceIn = a.signal('force')
-stateIn = b.signal('state')
-forceOut = b.signal('force')
+    b = dgt.FeedbackController("K")
 
-dg.plug(stateOut, stateIn)
-dg.plug(forceOut, forceIn)
+    # plug signals
+    stateOut = a.signal('state')
+    forceIn = a.signal('force')
+    stateIn = b.signal('state')
+    forceOut = b.signal('force')
 
-timeStep = 0.001
+    dg.plug(stateOut, stateIn)
+    dg.plug(forceOut, forceIn)
 
-# Set value of state signal
-s = stateOut
-f = forceIn
+    # Set value of state signal
+    s = stateOut
+    f = forceIn
 
-s.value = (0.0, 0.1, 0.0, 0.0)
+    s.value = (0.0, 0.1, 0.0, 0.0)
 
-gain = ((
-    0.0,
-    27.0,
-    0.001,
-    0.001,
-), )
-b.setGain(gain, )
+    gain = ((
+        0.0,
+        27.0,
+        0.001,
+        0.001,
+    ), )
+    b.setGain(gain, )
+
+    return s, f, a
 
 
 def play(nbSteps):
+    s, f, a = build_graph()
+    timeStep = 0.001
     timeSteps = []
     values = []
     forces = []

tests/CMakeLists.txt

@@ -7,3 +7,7 @@ TARGET_INCLUDE_DIRECTORIES(pendulum PUBLIC dynamic-graph::dynamic-graph)
 ADD_UNIT_TEST(controller controller.cpp)
 TARGET_LINK_LIBRARIES(controller ${PROJECT_NAME} ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY} dynamic-graph::dynamic-graph)
 TARGET_INCLUDE_DIRECTORIES(controller PUBLIC dynamic-graph::dynamic-graph)
+
+IF(BUILD_PYTHON_INTERFACE)
+  ADD_PYTHON_UNIT_TEST(simu "tests/simu.py" src)
+ENDIF(BUILD_PYTHON_INTERFACE)

tests/simu.py

@@ -0,0 +1,13 @@
+import unittest
+
+from dynamic_graph.tutorial.simu import build_graph
+
+
+class DynamicGraphTutorialTest(unittest.TestCase):
+    def test_simu(self):
+        s, f, a = build_graph()
+        self.assertEqual(a.getCartMass(), 1)
+
+
+if __name__ == '__main__':
+    unittest.main()