Add more coverage to World class tests
#138
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sea-bass
commented
Sep 3, 2023
| @@ -1055,7 +1061,7 @@ def is_connectable(self, start, goal, max_dist=None): | |||
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| # Build up the array of test X and Y coordinates for sampling between | |||
| # the start and goal points. | |||
| dist_array = np.arange(0, dist, 0.01) | |||
| dist_array = np.arange(0, dist, step_dist) | |||
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Removed this hard-coded pose in this PR as well, and made it a parameter of the path planners.
sea-bass
commented
Sep 3, 2023
Comment on lines
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| # Select a graph node using the same resolution strategy. | ||
| graph_node = apply_resolution_strategy( | ||
| graph_nodes, resolution_strategy, robot=robot | ||
| ) |
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Ended up implementing this TODO in the PR
pyrobosim/pyrobosim/core/world.py
Outdated
| # If the new robot has a bigger inflation radius than previously, | ||
| # use this new one. Otherwise, we can leave it as is. | ||
| old_inflation_radius = self.inflation_radius | ||
| new_inflation_radius = max([r.radius for r in self.robots] + [robot.radius]) |
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There are few more places with single variable.
Should we enforce the "no single letter variable" ?
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Probably a good idea, updated all the ones I found in world.py.
Is this enforceable in e.g. the pre-commit-config.yaml file or something? If so, might be worth automating in another PR.
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Should be possible for normal variables, not sure about the ones in list comprehension.
ibrahiminfinite
approved these changes
Sep 4, 2023
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This PR addresses the missing test coverage highlighted in #94 -- namely tests around some methods of the
Worldclass that were not covered in the existing set of tests.As always, this fixes some additional issues found along the way as well.
Changes to
world.pyare actually very minor (except for one bug incollides_with_robots) -- I just moved some functions around to be in the right "sections" next to related functions.Closes #94.