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test_interpolate_joint_path Namespace

Definition​

namespace test_interpolate_joint_path { ... }

Functions Index​

test_empty_path_raises ()
test_single_waypoint_raises ()
test_zero_step_raises ()
test_negative_step_raises ()
test_nan_step_raises ()
test_zero_dimensional_waypoints_raises ()
test_mismatched_waypoint_dimensions_raises ()
test_non_finite_waypoint_raises ()
test_tiny_step_overflow_guard_raises ()
test_endpoints_preserved_exactly ()
test_no_step_exceeds_bound ()
test_step_count_uses_largest_joint_delta ()
test_threshold_boundary_probe ()
test_multi_segment_no_corner_duplication ()
test_intermediate_values_are_linear ()

Description​

Tests for moveit_pro.planning.interpolate_joint_path.

Functions​

test_empty_path_raises()​

test_interpolate_joint_path.test_empty_path_raises ()
interpolate_joint_path raises when the input path has no waypoints.

Definition at line 19 of file test_interpolate_joint_path.py.

test_endpoints_preserved_exactly()​

test_interpolate_joint_path.test_endpoints_preserved_exactly ()
First and last waypoints in the output should match the inputs bit-exactly.

Definition at line 79 of file test_interpolate_joint_path.py.

test_intermediate_values_are_linear()​

test_interpolate_joint_path.test_intermediate_values_are_linear ()
Intermediate waypoints lie on the straight line between consecutive inputs.

Definition at line 128 of file test_interpolate_joint_path.py.

test_mismatched_waypoint_dimensions_raises()​

test_interpolate_joint_path.test_mismatched_waypoint_dimensions_raises ()
interpolate_joint_path raises when waypoints have different dimensions.

Definition at line 57 of file test_interpolate_joint_path.py.

test_multi_segment_no_corner_duplication()​

test_interpolate_joint_path.test_multi_segment_no_corner_duplication ()
A 3-waypoint path stitches without duplicating the intermediate corner.

Definition at line 115 of file test_interpolate_joint_path.py.

test_nan_step_raises()​

test_interpolate_joint_path.test_nan_step_raises ()
interpolate_joint_path raises when max_joint_step is NaN (would otherwise bypass <= 0).

Definition at line 43 of file test_interpolate_joint_path.py.

test_negative_step_raises()​

test_interpolate_joint_path.test_negative_step_raises ()
interpolate_joint_path raises when max_joint_step is negative.

Definition at line 37 of file test_interpolate_joint_path.py.

test_no_step_exceeds_bound()​

test_interpolate_joint_path.test_no_step_exceeds_bound ()
Every adjacent pair in the output respects the per-joint (L-infinity) bound.

Definition at line 88 of file test_interpolate_joint_path.py.

test_non_finite_waypoint_raises()​

test_interpolate_joint_path.test_non_finite_waypoint_raises ()
interpolate_joint_path raises when a waypoint contains NaN.

Definition at line 63 of file test_interpolate_joint_path.py.

test_single_waypoint_raises()​

test_interpolate_joint_path.test_single_waypoint_raises ()
interpolate_joint_path raises when the input has a single waypoint.

Definition at line 25 of file test_interpolate_joint_path.py.

test_step_count_uses_largest_joint_delta()​

test_interpolate_joint_path.test_step_count_uses_largest_joint_delta ()
ceil(max_delta / step) drives step count; joint 0 (0.6 rad) wins over joint 1 (0.1 rad).

Definition at line 101 of file test_interpolate_joint_path.py.

test_threshold_boundary_probe()​

test_interpolate_joint_path.test_threshold_boundary_probe ()
Pin the ceil() boundary: 0.20/0.20 -> 2 waypoints; 0.20/0.19 -> 3 waypoints.

Definition at line 108 of file test_interpolate_joint_path.py.

test_tiny_step_overflow_guard_raises()​

test_interpolate_joint_path.test_tiny_step_overflow_guard_raises ()
interpolate_joint_path raises rather than overflowing on a near-zero step.

Definition at line 71 of file test_interpolate_joint_path.py.

test_zero_dimensional_waypoints_raises()​

test_interpolate_joint_path.test_zero_dimensional_waypoints_raises ()
interpolate_joint_path raises on zero-length waypoints (would otherwise crash maxCoeff()).

Definition at line 51 of file test_interpolate_joint_path.py.

test_zero_step_raises()​

test_interpolate_joint_path.test_zero_step_raises ()
interpolate_joint_path raises when max_joint_step is zero.

Definition at line 31 of file test_interpolate_joint_path.py.

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