Fix ci tests

.github/workflows/master.yml

@@ -17,8 +17,7 @@ jobs:
     strategy:
       matrix:
         os: [windows-latest, ubuntu-latest, macos-latest]
-        # python-version: [3.7, 3.8, 3.9, '3.10', 3.11]
-        python-version: [3.7, 3.8, 3.9, 3.11]
+        python-version: ["3.7", "3.8", "3.9", "3.10", "3.11"]
 
     steps:
     - uses: actions/checkout@v2

pyproject.toml

@@ -46,7 +46,7 @@ dependencies = [
 "Homepage" = "https://github.com/petercorke/spatialmath-python"
 "Bug Tracker" = "https://github.com/petercorke/spatialmath-python/issues"
 "Documentation" = "https://petercorke.github.io/petercorke/spatialmath-python"
-"Source" = "https://github.com/petercorke/petercorke/spatialmath-python"
+"Source" = "https://github.com/petercorke/spatialmath-python"
 
 [project.optional-dependencies]
 

tests/base/test_graphics.py

@@ -1,6 +1,8 @@
 import unittest
 import numpy as np
 import matplotlib.pyplot as plt
+import pytest
+import sys
 from spatialmath.base import *
 
 # test graphics primitives
@@ -11,22 +13,37 @@ class TestGraphics(unittest.TestCase):
     def teardown_method(self, method):
         plt.close("all")
 
+    @pytest.mark.skipif(
+        sys.platform.startswith("darwin"), reason="tkinter bug with mac"
+    )
     def test_plotvol2(self):
         plotvol2(5)
 
+    @pytest.mark.skipif(
+        sys.platform.startswith("darwin"), reason="tkinter bug with mac"
+    )
     def test_plotvol3(self):
         plotvol3(5)
 
+    @pytest.mark.skipif(
+        sys.platform.startswith("darwin"), reason="tkinter bug with mac"
+    )
     def test_plot_point(self):
         plot_point((2, 3))
         plot_point(np.r_[2, 3])
         plot_point((2, 3), "x")
         plot_point((2, 3), "x", text="foo")
 
+    @pytest.mark.skipif(
+        sys.platform.startswith("darwin"), reason="tkinter bug with mac"
+    )
     def test_plot_text(self):
         plot_text((2, 3), "foo")
         plot_text(np.r_[2, 3], "foo")
 
+    @pytest.mark.skipif(
+        sys.platform.startswith("darwin"), reason="tkinter bug with mac"
+    )
     def test_plot_box(self):
         plot_box("r--", centre=(-2, -3), wh=(1, 1))
         plot_box(lt=(1, 1), rb=(2, 0), filled=True, color="b")
@@ -36,38 +53,59 @@ def test_plot_box(self):
         plot_box(lbwh=(1, 2, 3, 4))
         plot_box(centre=(1, 2), wh=(2, 3))
 
+    @pytest.mark.skipif(
+        sys.platform.startswith("darwin"), reason="tkinter bug with mac"
+    )
     def test_plot_circle(self):
         plot_circle(1, (0, 0), "r")  # red circle
         plot_circle(2, (0, 0), "b--")  # blue dashed circle
         plot_circle(0.5, (0, 0), filled=True, color="y")  # yellow filled circle
 
+    @pytest.mark.skipif(
+        sys.platform.startswith("darwin"), reason="tkinter bug with mac"
+    )
     def test_ellipse(self):
         plot_ellipse(np.diag((1, 2)), (0, 0), "r")  # red ellipse
         plot_ellipse(np.diag((1, 2)), (0, 0), "b--")  # blue dashed ellipse
         plot_ellipse(
             np.diag((1, 2)), centre=(1, 1), filled=True, color="y"
         )  # yellow filled ellipse
 
+    @pytest.mark.skipif(
+        sys.platform.startswith("darwin"), reason="tkinter bug with mac"
+    )
     def test_plot_homline(self):
         plot_homline((1, 2, 3))
         plot_homline((2, 1, 3))
         plot_homline((1, -2, 3), "k--")
 
+    @pytest.mark.skipif(
+        sys.platform.startswith("darwin"), reason="tkinter bug with mac"
+    )
     def test_cuboid(self):
         plot_cuboid((1, 2, 3), color="g")
         plot_cuboid((1, 2, 3), centre=(2, 3, 4), color="g")
         plot_cuboid((1, 2, 3), filled=True, color="y")
 
+    @pytest.mark.skipif(
+        sys.platform.startswith("darwin"), reason="tkinter bug with mac"
+    )
     def test_sphere(self):
         plot_sphere(0.3, color="r")
         plot_sphere(1, centre=(1, 1, 1), filled=True, color="b")
 
+    @pytest.mark.skipif(
+        sys.platform.startswith("darwin"), reason="tkinter bug with mac"
+    )
     def test_ellipsoid(self):
         plot_ellipsoid(np.diag((1, 2, 3)), color="r")  # red ellipsoid
         plot_ellipsoid(
             np.diag((1, 2, 3)), centre=(1, 2, 3), filled=True, color="y"
         )  # yellow filled ellipsoid
 
+    @pytest.mark.skipif(
+        sys.platform.startswith("darwin"), reason="tkinter bug with mac"
+    )
     def test_cylinder(self):
         plot_cylinder(radius=0.2, centre=(0.5, 0.5, 0), height=[-0.2, 0.2])
         plot_cylinder(
@@ -79,6 +117,9 @@ def test_cylinder(self):
             color="red",
         )
 
+    @pytest.mark.skipif(
+        sys.platform.startswith("darwin"), reason="tkinter bug with mac"
+    )
     def test_cone(self):
         plot_cone(radius=0.2, centre=(0.5, 0.5, 0), height=0.3)
         plot_cone(

tests/base/test_transforms2d.py

@@ -13,6 +13,8 @@
 from math import pi
 import math
 from scipy.linalg import logm, expm
+import pytest
+import sys
 
 from spatialmath.base.transforms2d import *
 from spatialmath.base.transformsNd import (
@@ -259,6 +261,9 @@ def test_trinterp2(self):
             trinterp2(start=None, end=T1, s=0.5), xyt2tr([0.5, 1, 0.15])
         )
 
+    @pytest.mark.skipif(
+        sys.platform.startswith("darwin"), reason="tkinter bug with mac"
+    )
     def test_plot(self):
         plt.figure()
         trplot2(transl2(1, 2), block=False, frame="A", rviz=True, width=1)

tests/base/test_transforms3d.py

@@ -514,20 +514,19 @@ def test_tr2angvec(self):
         eps = 1e-08
 
         # show that tr2angvec works on true rotation matrix
-        R = SO3.Ry(true_ang)
-        ang, vec = t3d.tr2angvec(R.A, check=True)
-        nt.assert_equal(ang, true_ang)
-        nt.assert_equal(vec, true_vec)
+        ang, vec = tr2angvec(roty(true_ang), check=True)
+        nt.assert_almost_equal(ang, true_ang)
+        nt.assert_almost_equal(vec, true_vec)
 
         # check a rotation matrix that should fail
-        badR = SO3.Ry(true_ang).A[:, :] + eps
+        badR = roty(true_ang) + eps
         with self.assertRaises(ValueError):
-            t3d.tr2angvec(badR, check=True)
+            tr2angvec(badR, check=True)
 
         # run without check
-        ang, vec = t3d.tr2angvec(badR, check=False)
+        ang, vec = tr2angvec(badR, check=False)
         nt.assert_almost_equal(ang, true_ang)
-        nt.assert_equal(vec, true_vec)
+        nt.assert_almost_equal(vec, true_vec)
 
     def test_print(self):
         R = rotx(0.3) @ roty(0.4)

tests/base/test_transforms3d_plot.py

@@ -14,6 +14,8 @@
 from math import pi
 import math
 from scipy.linalg import logm, expm
+import pytest
+import sys
 
 from spatialmath.base.transforms3d import *
 from spatialmath.base.transformsNd import isR, t2r, r2t, rt2tr
@@ -22,6 +24,9 @@
 
 
 class Test3D(unittest.TestCase):
+    @pytest.mark.skipif(
+        sys.platform.startswith("darwin"), reason="tkinter bug with mac"
+    )
     def test_plot(self):
         plt.figure()
         # test options
@@ -65,6 +70,9 @@ def test_plot(self):
 
         plt.close("all")
 
+    @pytest.mark.skipif(
+        sys.platform.startswith("darwin"), reason="tkinter bug with mac"
+    )
     def test_animate(self):
         tranimate(transl(1, 2, 3), repeat=False, wait=True)
 

tests/test_geom2d.py

@@ -10,6 +10,8 @@
 from spatialmath.pose2d import SE2
 
 import unittest
+import pytest
+import sys
 import numpy.testing as nt
 import spatialmath.base as smb
 
@@ -85,6 +87,9 @@ def test_intersect_line(self):
         l = Line2.Join((-10, 1.1), (10, 1.1))
         self.assertFalse(p.intersects(l))
 
+    @pytest.mark.skipif(
+        sys.platform.startswith("darwin"), reason="tkinter bug with mac"
+    )
     def test_plot(self):
         p = Polygon2(np.array([[-1, 1, 1, -1], [-1, -1, 1, 1]]))
         p.plot()

tests/test_geom3d.py

@@ -12,6 +12,8 @@
 import unittest
 import numpy.testing as nt
 import spatialmath.base as base
+import pytest
+import sys
 
 
 class Line3Test(unittest.TestCase):
@@ -123,6 +125,9 @@ def test_closest(self):
         nt.assert_array_almost_equal(p, [5, 1, 2])
         self.assertAlmostEqual(d, 2)
 
+    @pytest.mark.skipif(
+        sys.platform.startswith("darwin"), reason="tkinter bug with mac"
+    )
     def test_plot(self):
         P = [2, 3, 7]
         Q = [2, 1, 0]

tests/test_pose2d.py

@@ -1,6 +1,8 @@
 import numpy.testing as nt
 import matplotlib.pyplot as plt
 import unittest
+import sys
+import pytest
 
 """
 we will assume that the primitives rotx,trotx, etc. all work
@@ -227,6 +229,7 @@ def test_printline(self):
         # self.assertIsInstance(s, str)
         # self.assertEqual(s.count('\n'), 2)
 
+    @pytest.mark.skipif(sys.platform.startswith("darwin"), reason="tkinter bug with mac")
     def test_plot(self):
         plt.close('all')
 
@@ -493,12 +496,16 @@ def test_display(self):
 
         T1.printline()
 
+    @pytest.mark.skipif(
+        sys.platform.startswith("darwin"), reason="tkinter bug with mac"
+    )
     def test_graphics(self):
 
         plt.close('all')
         T1 = SE2.Rand()
         T2 = SE2.Rand()
 
+
         T1.plot(block=False, dims=[-2,2])
 
         T1.animate(repeat=False, dims=[-2,2], nframes=10)

tests/test_pose3d.py

@@ -1,17 +1,16 @@
 import numpy.testing as nt
 import matplotlib.pyplot as plt
 import unittest
+import sys
+import pytest
 
 """
 we will assume that the primitives rotx,trotx, etc. all work
 """
 from math import pi
 from spatialmath import SE3, SO3, SE2
 import numpy as np
-# from spatialmath import super_pose as sp
 from spatialmath.base import *
-from spatialmath.base import argcheck
-import spatialmath as sm
 from spatialmath.baseposematrix import BasePoseMatrix
 from spatialmath.twist import BaseTwist
 
@@ -225,21 +224,21 @@ def test_constructor_TwoVec(self):
         # x and y given
         R = SO3.TwoVectors(x=v1, y=v2)
         self.assertIsInstance(R, SO3)
-        nt.assert_almost_equal(np.linalg.det(R), 1, 5)
+        nt.assert_almost_equal(R.det(), 1, 5)
         # x axis should equal normalized x vector
         nt.assert_almost_equal(R.R[:, 0], v1 / np.linalg.norm(v1), 5)
 
         # y and z given
         R = SO3.TwoVectors(y=v2, z=v3)
         self.assertIsInstance(R, SO3)
-        nt.assert_almost_equal(np.linalg.det(R), 1, 5)
+        nt.assert_almost_equal(R.det(), 1, 5)
         # y axis should equal normalized y vector
         nt.assert_almost_equal(R.R[:, 1], v2 / np.linalg.norm(v2), 5)
 
         # x and z given
         R = SO3.TwoVectors(x=v3, z=v1)
         self.assertIsInstance(R, SO3)
-        nt.assert_almost_equal(np.linalg.det(R), 1, 5)
+        nt.assert_almost_equal(R.det(), 1, 5)
         # x axis should equal normalized x vector
         nt.assert_almost_equal(R.R[:, 0], v3 / np.linalg.norm(v3), 5)
 
@@ -274,7 +273,8 @@ def test_printline(self):
         s = R.printline(file=None)
         # self.assertIsInstance(s, str)
         # self.assertEqual(s.count('\n'), 2)
-
+
+    @pytest.mark.skipif(sys.platform.startswith("darwin"), reason="tkinter bug with mac")
     def test_plot(self):
         plt.close('all')