unnitests

Author: Yiannis Gatsoulis

.gitignore

@@ -58,6 +58,7 @@ target/
 .idea/
 
 *~
+*.DS_Store*
 
 # DOC
 qsr_lib/docs/_build/

qsr_lib/CMakeLists.txt

@@ -48,6 +48,7 @@ if (CATKIN_ENABLE_TESTING)
   add_rostest(tests/qtcbs_tester.test)
   add_rostest(tests/qtccs_tester.test)
   add_rostest(tests/qtcbcs_tester.test)
+  add_rostest(tests/ra_tester.test)
   add_rostest(tests/rcc2_tester.test)
   add_rostest(tests/rcc3_tester.test)
   add_rostest(tests/rcc8_tester.test)

qsr_lib/tests/data/data1_ra_defaults.txt

@@ -0,0 +1 @@
+["1.0,o1,o2,{'ra': '>,>'}", "1.0,o2,o1,{'ra': '<,<'}", "2.0,o1,o2,{'ra': '>,mi'}", "2.0,o2,o1,{'ra': '<,m'}", "3.0,o1,o2,{'ra': '>,oi'}", "3.0,o2,o1,{'ra': '<,o'}", "4.0,o1,o2,{'ra': '>,='}", "4.0,o2,o1,{'ra': '<,='}", "5.0,o1,o2,{'ra': '>,o'}", "5.0,o2,o1,{'ra': '<,oi'}", "6.0,o1,o2,{'ra': '>,m'}", "6.0,o2,o1,{'ra': '<,mi'}", "7.0,o1,o2,{'ra': '>,<'}", "7.0,o2,o1,{'ra': '<,>'}", "8.0,o1,o2,{'ra': 'mi,>'}", "8.0,o2,o1,{'ra': 'm,<'}", "9.0,o1,o2,{'ra': 'mi,mi'}", "9.0,o2,o1,{'ra': 'm,m'}", "10.0,o1,o2,{'ra': 'mi,oi'}", "10.0,o2,o1,{'ra': 'm,o'}", "11.0,o1,o2,{'ra': 'mi,='}", "11.0,o2,o1,{'ra': 'm,='}", "12.0,o1,o2,{'ra': 'mi,o'}", "12.0,o2,o1,{'ra': 'm,oi'}", "13.0,o1,o2,{'ra': 'mi,m'}", "13.0,o2,o1,{'ra': 'm,mi'}", "14.0,o1,o2,{'ra': 'mi,<'}", "14.0,o2,o1,{'ra': 'm,>'}", "15.0,o1,o2,{'ra': 'oi,>'}", "15.0,o2,o1,{'ra': 'o,<'}", "16.0,o1,o2,{'ra': 'oi,mi'}", "16.0,o2,o1,{'ra': 'o,m'}", "17.0,o1,o2,{'ra': 'oi,oi'}", "17.0,o2,o1,{'ra': 'o,o'}", "18.0,o1,o2,{'ra': 'oi,='}", "18.0,o2,o1,{'ra': 'o,='}", "19.0,o1,o2,{'ra': 'oi,o'}", "19.0,o2,o1,{'ra': 'o,oi'}", "20.0,o1,o2,{'ra': 'oi,m'}", "20.0,o2,o1,{'ra': 'o,mi'}", "21.0,o1,o2,{'ra': 'oi,<'}", "21.0,o2,o1,{'ra': 'o,>'}", "22.0,o1,o2,{'ra': '=,>'}", "22.0,o2,o1,{'ra': '=,<'}", "23.0,o1,o2,{'ra': '=,mi'}", "23.0,o2,o1,{'ra': '=,m'}", "24.0,o1,o2,{'ra': '=,oi'}", "24.0,o2,o1,{'ra': '=,o'}", "25.0,o1,o2,{'ra': '=,='}", "25.0,o2,o1,{'ra': '=,='}", "26.0,o1,o2,{'ra': '=,o'}", "26.0,o2,o1,{'ra': '=,oi'}", "27.0,o1,o2,{'ra': '=,m'}", "27.0,o2,o1,{'ra': '=,mi'}", "28.0,o1,o2,{'ra': '=,<'}", "28.0,o2,o1,{'ra': '=,>'}", "29.0,o1,o2,{'ra': 'o,>'}", "29.0,o2,o1,{'ra': 'oi,<'}", "30.0,o1,o2,{'ra': 'o,mi'}", "30.0,o2,o1,{'ra': 'oi,m'}", "31.0,o1,o2,{'ra': 'o,oi'}", "31.0,o2,o1,{'ra': 'oi,o'}", "32.0,o1,o2,{'ra': 'o,='}", "32.0,o2,o1,{'ra': 'oi,='}", "33.0,o1,o2,{'ra': 'o,o'}", "33.0,o2,o1,{'ra': 'oi,oi'}", "34.0,o1,o2,{'ra': 'o,m'}", "34.0,o2,o1,{'ra': 'oi,mi'}", "35.0,o1,o2,{'ra': 'o,<'}", "35.0,o2,o1,{'ra': 'oi,>'}", "36.0,o1,o2,{'ra': 'm,>'}", "36.0,o2,o1,{'ra': 'mi,<'}", "37.0,o1,o2,{'ra': 'm,mi'}", "37.0,o2,o1,{'ra': 'mi,m'}", "38.0,o1,o2,{'ra': 'm,oi'}", "38.0,o2,o1,{'ra': 'mi,o'}", "39.0,o1,o2,{'ra': 'm,='}", "39.0,o2,o1,{'ra': 'mi,='}", "40.0,o1,o2,{'ra': 'm,o'}", "40.0,o2,o1,{'ra': 'mi,oi'}", "41.0,o1,o2,{'ra': 'm,m'}", "41.0,o2,o1,{'ra': 'mi,mi'}", "42.0,o1,o2,{'ra': 'm,<'}", "42.0,o2,o1,{'ra': 'mi,>'}", "43.0,o1,o2,{'ra': '<,>'}", "43.0,o2,o1,{'ra': '>,<'}", "44.0,o1,o2,{'ra': '<,mi'}", "44.0,o2,o1,{'ra': '>,m'}", "45.0,o1,o2,{'ra': '<,oi'}", "45.0,o2,o1,{'ra': '>,o'}", "46.0,o1,o2,{'ra': '<,='}", "46.0,o2,o1,{'ra': '>,='}", "47.0,o1,o2,{'ra': '<,o'}", "47.0,o2,o1,{'ra': '>,oi'}", "48.0,o1,o2,{'ra': '<,m'}", "48.0,o2,o1,{'ra': '>,mi'}", "49.0,o1,o2,{'ra': '<,<'}", "49.0,o2,o1,{'ra': '>,>'}"]

qsr_lib/tests/data/data1_ra_qsrs_for_global_namespace.txt

@@ -0,0 +1 @@
+["1.0,o2,o1,{'ra': '<,<'}", "2.0,o2,o1,{'ra': '<,m'}", "3.0,o2,o1,{'ra': '<,o'}", "4.0,o2,o1,{'ra': '<,='}", "5.0,o2,o1,{'ra': '<,oi'}", "6.0,o2,o1,{'ra': '<,mi'}", "7.0,o2,o1,{'ra': '<,>'}", "8.0,o2,o1,{'ra': 'm,<'}", "9.0,o2,o1,{'ra': 'm,m'}", "10.0,o2,o1,{'ra': 'm,o'}", "11.0,o2,o1,{'ra': 'm,='}", "12.0,o2,o1,{'ra': 'm,oi'}", "13.0,o2,o1,{'ra': 'm,mi'}", "14.0,o2,o1,{'ra': 'm,>'}", "15.0,o2,o1,{'ra': 'o,<'}", "16.0,o2,o1,{'ra': 'o,m'}", "17.0,o2,o1,{'ra': 'o,o'}", "18.0,o2,o1,{'ra': 'o,='}", "19.0,o2,o1,{'ra': 'o,oi'}", "20.0,o2,o1,{'ra': 'o,mi'}", "21.0,o2,o1,{'ra': 'o,>'}", "22.0,o2,o1,{'ra': '=,<'}", "23.0,o2,o1,{'ra': '=,m'}", "24.0,o2,o1,{'ra': '=,o'}", "25.0,o2,o1,{'ra': '=,='}", "26.0,o2,o1,{'ra': '=,oi'}", "27.0,o2,o1,{'ra': '=,mi'}", "28.0,o2,o1,{'ra': '=,>'}", "29.0,o2,o1,{'ra': 'oi,<'}", "30.0,o2,o1,{'ra': 'oi,m'}", "31.0,o2,o1,{'ra': 'oi,o'}", "32.0,o2,o1,{'ra': 'oi,='}", "33.0,o2,o1,{'ra': 'oi,oi'}", "34.0,o2,o1,{'ra': 'oi,mi'}", "35.0,o2,o1,{'ra': 'oi,>'}", "36.0,o2,o1,{'ra': 'mi,<'}", "37.0,o2,o1,{'ra': 'mi,m'}", "38.0,o2,o1,{'ra': 'mi,o'}", "39.0,o2,o1,{'ra': 'mi,='}", "40.0,o2,o1,{'ra': 'mi,oi'}", "41.0,o2,o1,{'ra': 'mi,mi'}", "42.0,o2,o1,{'ra': 'mi,>'}", "43.0,o2,o1,{'ra': '>,<'}", "44.0,o2,o1,{'ra': '>,m'}", "45.0,o2,o1,{'ra': '>,o'}", "46.0,o2,o1,{'ra': '>,='}", "47.0,o2,o1,{'ra': '>,oi'}", "48.0,o2,o1,{'ra': '>,mi'}", "49.0,o2,o1,{'ra': '>,>'}"]

qsr_lib/tests/data/data1_ra_qsrs_for_qsr_namespace.txt

@@ -0,0 +1 @@
+["1.0,o1,o2,{'ra': '>,>'}", "2.0,o1,o2,{'ra': '>,mi'}", "3.0,o1,o2,{'ra': '>,oi'}", "4.0,o1,o2,{'ra': '>,='}", "5.0,o1,o2,{'ra': '>,o'}", "6.0,o1,o2,{'ra': '>,m'}", "7.0,o1,o2,{'ra': '>,<'}", "8.0,o1,o2,{'ra': 'mi,>'}", "9.0,o1,o2,{'ra': 'mi,mi'}", "10.0,o1,o2,{'ra': 'mi,oi'}", "11.0,o1,o2,{'ra': 'mi,='}", "12.0,o1,o2,{'ra': 'mi,o'}", "13.0,o1,o2,{'ra': 'mi,m'}", "14.0,o1,o2,{'ra': 'mi,<'}", "15.0,o1,o2,{'ra': 'oi,>'}", "16.0,o1,o2,{'ra': 'oi,mi'}", "17.0,o1,o2,{'ra': 'oi,oi'}", "18.0,o1,o2,{'ra': 'oi,='}", "19.0,o1,o2,{'ra': 'oi,o'}", "20.0,o1,o2,{'ra': 'oi,m'}", "21.0,o1,o2,{'ra': 'oi,<'}", "22.0,o1,o2,{'ra': '=,>'}", "23.0,o1,o2,{'ra': '=,mi'}", "24.0,o1,o2,{'ra': '=,oi'}", "25.0,o1,o2,{'ra': '=,='}", "26.0,o1,o2,{'ra': '=,o'}", "27.0,o1,o2,{'ra': '=,m'}", "28.0,o1,o2,{'ra': '=,<'}", "29.0,o1,o2,{'ra': 'o,>'}", "30.0,o1,o2,{'ra': 'o,mi'}", "31.0,o1,o2,{'ra': 'o,oi'}", "32.0,o1,o2,{'ra': 'o,='}", "33.0,o1,o2,{'ra': 'o,o'}", "34.0,o1,o2,{'ra': 'o,m'}", "35.0,o1,o2,{'ra': 'o,<'}", "36.0,o1,o2,{'ra': 'm,>'}", "37.0,o1,o2,{'ra': 'm,mi'}", "38.0,o1,o2,{'ra': 'm,oi'}", "39.0,o1,o2,{'ra': 'm,='}", "40.0,o1,o2,{'ra': 'm,o'}", "41.0,o1,o2,{'ra': 'm,m'}", "42.0,o1,o2,{'ra': 'm,<'}", "43.0,o1,o2,{'ra': '<,>'}", "44.0,o1,o2,{'ra': '<,mi'}", "45.0,o1,o2,{'ra': '<,oi'}", "46.0,o1,o2,{'ra': '<,='}", "47.0,o1,o2,{'ra': '<,o'}", "48.0,o1,o2,{'ra': '<,m'}", "49.0,o1,o2,{'ra': '<,<'}"]

qsr_lib/tests/data/data2_ra_defaults.txt

@@ -0,0 +1,35 @@
+#!/usr/bin/env python
+from __future__ import print_function, division
+import sys
+from abstractclass_unittest_dyadic import Abstractclass_Unittest_Dyadic
+
+
+class RA_Test(Abstractclass_Unittest_Dyadic):
+    def __init__(self, *args):
+        super(RA_Test, self).__init__(*args)
+        self._unique_id = "ra"
+
+    def test_defaults(self):
+        self.assertItemsEqual(*self.defaults("data1", "data1_ra_defaults.txt"))
+
+    def test_qsrs_for_global_namespace(self):
+        self.assertItemsEqual(*self.qsrs_for_global_namespace("data1", "data1_ra_qsrs_for_global_namespace.txt"))
+
+    def test_qsrs_for_qsr_namespace(self):
+        self.assertItemsEqual(*self.qsrs_for_qsr_namespace("data1", "data1_ra_qsrs_for_qsr_namespace.txt"))
+        self.assertItemsEqual(*self.qsrs_for_qsr_namespace_over_global_namespace("data1",
+                                                                                 "data1_ra_qsrs_for_qsr_namespace.txt"))
+
+    def test_with_bounding_boxes(self):
+        self.assertItemsEqual(*self.defaults("data2", "data2_ra_defaults.txt"))
+
+    def test_without_bounding_boxes(self):
+        self.assertItemsEqual(*self.defaults("data3", "data3_ra_defaults.txt"))
+
+    def test_floats(self):
+        self.assertItemsEqual(*self.defaults("data4", "data4_ra_defaults.txt"))
+
+
+if __name__ == '__main__':
+    import rosunit
+    rosunit.unitrun("qsr_lib", "ra_test", RA_Test, sys.argv)

qsr_lib/tests/data/data3_ra_defaults.txt

@@ -0,0 +1,3 @@
+<launch>
+  <test test-name="ra_tester" pkg="qsr_lib" type="ra_tester.py" />
+</launch>