TestProRRTPlanner Class

Declaration

class test_mtc_prorrt::TestProRRTPlanner { ... }

Public Member Functions Index

	test_construction_default_params (self)
	test_construction_with_params (self)
	test_construction_validate_trajectory_false (self)
	test_set_max_iterations (self)
	test_set_max_iterations_boundary_values (self)
None	test_set_workspace_step (self)
None	test_set_configuration_space_step (self)
None	test_set_configuration_space_step_boundary_values (self)
None	test_set_seed_attempts (self)
None	test_set_optimization_iterations (self)
None	test_negative_seed_attempts_rejected (self)
None	test_negative_optimization_iterations_rejected (self)
	test_set_velocity_scale_factor (self)
	test_set_velocity_scale_factor_boundary_values (self)
	test_set_acceleration_scale_factor (self)
	test_set_acceleration_scale_factor_boundary_values (self)
	test_set_trajectory_sampling_rate (self)
	test_set_trajectory_sampling_rate_boundary_values (self)
	test_set_link_padding (self)
	test_set_link_padding_boundary_values (self)
	test_set_world_padding (self)
	test_set_world_padding_boundary_values (self)
None	test_padding_round_trips_through_the_binding (self)
None	test_set_pad_self_collisions (self)
	test_set_constraints (self)
	test_set_seed (self)
	test_set_seed_boundary_values (self)
	test_chained_method_calls (self)
	test_multiple_planners_independent (self)
	test_construction_with_different_padding_values (self)
	test_inheritance_from_planner_interface (self)
	test_comprehensive_configuration (self)
	test_parameter_type_validation (self)
	test_default_construction_behavior (self)
	test_deprecated_padding_kwarg_warns (self)
	test_deprecated_set_padding_warns (self)
	test_padding_and_link_padding_together_rejected (self)
	test_negative_padding_rejected (self)
	test_non_finite_padding_rejected (self)
	test_max_deviation_accepts_positive_value (self)
	test_non_positive_max_deviation_rejected (self)
	test_non_finite_max_deviation_rejected (self)

Description

Test suite for the ProRRTPlanner MTC wrapper.

Definition at line 13 of file test_mtc_prorrt.py.

Public Member Functions

test_chained_method_calls()

test_mtc_prorrt.TestProRRTPlanner.test_chained_method_calls (self self)

Test that multiple setter methods can be called in sequence.

Definition at line 225 of file test_mtc_prorrt.py.

test_comprehensive_configuration()

test_mtc_prorrt.TestProRRTPlanner.test_comprehensive_configuration (self self)

Test comprehensive configuration of all planner parameters.

Definition at line 299 of file test_mtc_prorrt.py.

test_construction_default_params()

test_mtc_prorrt.TestProRRTPlanner.test_construction_default_params (self self)

Test ProRRTPlanner construction with default parameters.

Definition at line 16 of file test_mtc_prorrt.py.

test_construction_validate_trajectory_false()

test_mtc_prorrt.TestProRRTPlanner.test_construction_validate_trajectory_false (self self)

Test ProRRTPlanner construction with trajectory validation disabled.

Definition at line 26 of file test_mtc_prorrt.py.

test_construction_with_different_padding_values()

test_mtc_prorrt.TestProRRTPlanner.test_construction_with_different_padding_values (self self)

Test construction with various padding values.

Definition at line 257 of file test_mtc_prorrt.py.

test_construction_with_params()

test_mtc_prorrt.TestProRRTPlanner.test_construction_with_params (self self)

Test ProRRTPlanner construction with explicit parameters.

Definition at line 21 of file test_mtc_prorrt.py.

test_default_construction_behavior()

test_mtc_prorrt.TestProRRTPlanner.test_default_construction_behavior (self self)

Test behavior with default construction parameters.

Definition at line 334 of file test_mtc_prorrt.py.

test_deprecated_padding_kwarg_warns()

test_mtc_prorrt.TestProRRTPlanner.test_deprecated_padding_kwarg_warns (self self)

The deprecated 'padding' kwarg still works and emits a DeprecationWarning.

Definition at line 346 of file test_mtc_prorrt.py.

test_deprecated_set_padding_warns()

test_mtc_prorrt.TestProRRTPlanner.test_deprecated_set_padding_warns (self self)

The deprecated set_padding() still works and emits a DeprecationWarning.

Definition at line 352 of file test_mtc_prorrt.py.

test_inheritance_from_planner_interface()

test_mtc_prorrt.TestProRRTPlanner.test_inheritance_from_planner_interface (self self)

Test that ProRRTPlanner properly inherits from PlannerInterface.

Definition at line 277 of file test_mtc_prorrt.py.

test_max_deviation_accepts_positive_value()

test_mtc_prorrt.TestProRRTPlanner.test_max_deviation_accepts_positive_value (self self)

A finite, positive blend deviation is accepted by the setter.

Definition at line 383 of file test_mtc_prorrt.py.

test_multiple_planners_independent()

test_mtc_prorrt.TestProRRTPlanner.test_multiple_planners_independent (self self)

Test that multiple planner instances are independent.

Definition at line 238 of file test_mtc_prorrt.py.

test_negative_optimization_iterations_rejected()

None test_mtc_prorrt.TestProRRTPlanner.test_negative_optimization_iterations_rejected (self self)

A negative value is rejected for the unsigned optimization_iterations.

Definition at line 83 of file test_mtc_prorrt.py.

test_negative_padding_rejected()

test_mtc_prorrt.TestProRRTPlanner.test_negative_padding_rejected (self self)

Negative padding values are rejected with ValueError at the Python boundary.

Definition at line 363 of file test_mtc_prorrt.py.

test_negative_seed_attempts_rejected()

None test_mtc_prorrt.TestProRRTPlanner.test_negative_seed_attempts_rejected (self self)

A negative value is rejected for the unsigned seed_attempts.

Definition at line 77 of file test_mtc_prorrt.py.

test_non_finite_max_deviation_rejected()

test_mtc_prorrt.TestProRRTPlanner.test_non_finite_max_deviation_rejected (self self)

Non-finite blend deviations are rejected with ValueError.

Definition at line 396 of file test_mtc_prorrt.py.

test_non_finite_padding_rejected()

test_mtc_prorrt.TestProRRTPlanner.test_non_finite_padding_rejected (self self)

Non-finite padding values are rejected with ValueError.

Definition at line 375 of file test_mtc_prorrt.py.

test_non_positive_max_deviation_rejected()

test_mtc_prorrt.TestProRRTPlanner.test_non_positive_max_deviation_rejected (self self)

Zero and negative blend deviations are rejected with ValueError at the Python boundary.

Definition at line 388 of file test_mtc_prorrt.py.

test_padding_and_link_padding_together_rejected()

test_mtc_prorrt.TestProRRTPlanner.test_padding_and_link_padding_together_rejected (self self)

Passing both 'padding' and 'link_padding' is rejected.

Definition at line 358 of file test_mtc_prorrt.py.

test_padding_round_trips_through_the_binding()

None test_mtc_prorrt.TestProRRTPlanner.test_padding_round_trips_through_the_binding (self self)

Setters and the use_scene_* calls reach the C++ planner; the getters read the result back.

Definition at line 176 of file test_mtc_prorrt.py.

test_parameter_type_validation()

test_mtc_prorrt.TestProRRTPlanner.test_parameter_type_validation (self self)

Test that parameters accept appropriate numeric types.

Definition at line 319 of file test_mtc_prorrt.py.

test_set_acceleration_scale_factor()

test_mtc_prorrt.TestProRRTPlanner.test_set_acceleration_scale_factor (self self)

Test setting acceleration scale factor.

Definition at line 107 of file test_mtc_prorrt.py.

test_set_acceleration_scale_factor_boundary_values()

test_mtc_prorrt.TestProRRTPlanner.test_set_acceleration_scale_factor_boundary_values (self self)

Test setting acceleration scale factor with boundary values.

Definition at line 112 of file test_mtc_prorrt.py.

test_set_configuration_space_step()

None test_mtc_prorrt.TestProRRTPlanner.test_set_configuration_space_step (self self)

Test setting the RRTConnect configuration-space step size.

Definition at line 53 of file test_mtc_prorrt.py.

test_set_configuration_space_step_boundary_values()

None test_mtc_prorrt.TestProRRTPlanner.test_set_configuration_space_step_boundary_values (self self)

Test setting the step size with small and large positive values.

Definition at line 58 of file test_mtc_prorrt.py.

test_set_constraints()

test_mtc_prorrt.TestProRRTPlanner.test_set_constraints (self self)

Test setting planning constraints.

Definition at line 198 of file test_mtc_prorrt.py.

test_set_link_padding()

test_mtc_prorrt.TestProRRTPlanner.test_set_link_padding (self self)

Test setting robot link collision padding.

Definition at line 140 of file test_mtc_prorrt.py.

test_set_link_padding_boundary_values()

test_mtc_prorrt.TestProRRTPlanner.test_set_link_padding_boundary_values (self self)

Test setting link padding with boundary values.

Definition at line 146 of file test_mtc_prorrt.py.

test_set_max_iterations()

test_mtc_prorrt.TestProRRTPlanner.test_set_max_iterations (self self)

Test setting maximum iterations for the RRTConnect algorithm.

Definition at line 31 of file test_mtc_prorrt.py.

test_set_max_iterations_boundary_values()

test_mtc_prorrt.TestProRRTPlanner.test_set_max_iterations_boundary_values (self self)

Test setting maximum iterations with boundary values.

Definition at line 38 of file test_mtc_prorrt.py.

test_set_optimization_iterations()

None test_mtc_prorrt.TestProRRTPlanner.test_set_optimization_iterations (self self)

Test setting the Informed RRT* refinement budget, including 0 (skips refinement).

Definition at line 71 of file test_mtc_prorrt.py.

test_set_pad_self_collisions()

None test_mtc_prorrt.TestProRRTPlanner.test_set_pad_self_collisions (self self)

Test toggling padding on self-collision checks.

Definition at line 192 of file test_mtc_prorrt.py.

test_set_seed()

test_mtc_prorrt.TestProRRTPlanner.test_set_seed (self self)

Test setting random number generator seed.

Definition at line 207 of file test_mtc_prorrt.py.

test_set_seed_attempts()

None test_mtc_prorrt.TestProRRTPlanner.test_set_seed_attempts (self self)

Test setting the number of RRT-Connect seed attempts, including 0 (treated as 1).

Definition at line 64 of file test_mtc_prorrt.py.

test_set_seed_boundary_values()

test_mtc_prorrt.TestProRRTPlanner.test_set_seed_boundary_values (self self)

Test setting seed with boundary values.

Definition at line 212 of file test_mtc_prorrt.py.

test_set_trajectory_sampling_rate()

test_mtc_prorrt.TestProRRTPlanner.test_set_trajectory_sampling_rate (self self)

Test setting trajectory sampling rate.

Definition at line 125 of file test_mtc_prorrt.py.

test_set_trajectory_sampling_rate_boundary_values()

test_mtc_prorrt.TestProRRTPlanner.test_set_trajectory_sampling_rate_boundary_values (self self)

Test setting trajectory sampling rate with boundary values.

Definition at line 130 of file test_mtc_prorrt.py.

test_set_velocity_scale_factor()

test_mtc_prorrt.TestProRRTPlanner.test_set_velocity_scale_factor (self self)

Test setting velocity scale factor.

Definition at line 89 of file test_mtc_prorrt.py.

test_set_velocity_scale_factor_boundary_values()

test_mtc_prorrt.TestProRRTPlanner.test_set_velocity_scale_factor_boundary_values (self self)

Test setting velocity scale factor with boundary values.

Definition at line 94 of file test_mtc_prorrt.py.

test_set_workspace_step()

None test_mtc_prorrt.TestProRRTPlanner.test_set_workspace_step (self self)

The workspace validation resolution setter exists and accepts a positive value.

Definition at line 48 of file test_mtc_prorrt.py.

test_set_world_padding()

test_mtc_prorrt.TestProRRTPlanner.test_set_world_padding (self self)

Test setting world object collision padding.

Definition at line 158 of file test_mtc_prorrt.py.

test_set_world_padding_boundary_values()

test_mtc_prorrt.TestProRRTPlanner.test_set_world_padding_boundary_values (self self)

Test setting world padding with boundary values.

Definition at line 164 of file test_mtc_prorrt.py.

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The documentation for this class was generated from the following file:

• test_mtc_prorrt.py

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