test_interpolate_joint_path Namespace Reference

Functions
	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 ()

Detailed Description

Tests for moveit_pro.planning.interpolate_joint_path.

Function Documentation

test_empty_path_raises()

test_interpolate_joint_path.test_empty_path_raises

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interpolate_joint_path raises when the input path has no waypoints.

test_endpoints_preserved_exactly()

test_interpolate_joint_path.test_endpoints_preserved_exactly

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First and last waypoints in the output should match the inputs bit-exactly.

test_intermediate_values_are_linear()

test_interpolate_joint_path.test_intermediate_values_are_linear

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Intermediate waypoints lie on the straight line between consecutive inputs.

test_mismatched_waypoint_dimensions_raises()

test_interpolate_joint_path.test_mismatched_waypoint_dimensions_raises

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interpolate_joint_path raises when waypoints have different dimensions.

test_multi_segment_no_corner_duplication()

test_interpolate_joint_path.test_multi_segment_no_corner_duplication

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A 3-waypoint path stitches without duplicating the intermediate corner.

test_nan_step_raises()

test_interpolate_joint_path.test_nan_step_raises

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

test_negative_step_raises()

test_interpolate_joint_path.test_negative_step_raises

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interpolate_joint_path raises when max_joint_step is negative.

test_no_step_exceeds_bound()

test_interpolate_joint_path.test_no_step_exceeds_bound

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

test_non_finite_waypoint_raises()

test_interpolate_joint_path.test_non_finite_waypoint_raises

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interpolate_joint_path raises when a waypoint contains NaN.

test_single_waypoint_raises()

test_interpolate_joint_path.test_single_waypoint_raises

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interpolate_joint_path raises when the input has a single waypoint.

test_step_count_uses_largest_joint_delta()

test_interpolate_joint_path.test_step_count_uses_largest_joint_delta

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

test_threshold_boundary_probe()

test_interpolate_joint_path.test_threshold_boundary_probe

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

test_tiny_step_overflow_guard_raises()

test_interpolate_joint_path.test_tiny_step_overflow_guard_raises

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interpolate_joint_path raises rather than overflowing on a near-zero step.

test_zero_dimensional_waypoints_raises()

test_interpolate_joint_path.test_zero_dimensional_waypoints_raises

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

test_zero_step_raises()

test_interpolate_joint_path.test_zero_step_raises

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interpolate_joint_path raises when max_joint_step is zero.