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Modified SnapPlanner and GreedyIKPlanner to raise collision-specific …
…errors. Added tests for collision-specific errors in PlantoConfiguration and PlanToEndEffectorOffset
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Gilwoo Lee
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Oct 19, 2015
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Original file line number | Diff line number | Diff line change |
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@@ -1,10 +1,12 @@ | ||
from methods import PlanToEndEffectorOffsetTest | ||
from methods.PlanToEndEffectorOffset import PlanToEndEffectorOffsetCollisionTest | ||
from planning_helpers import BasePlannerTest | ||
from prpy.planning.workspace import GreedyIKPlanner | ||
from unittest import TestCase | ||
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class GreedyIKPlannerTest(BasePlannerTest, | ||
PlanToEndEffectorOffsetTest, | ||
PlanToEndEffectorOffsetCollisionTest, | ||
TestCase): | ||
planner_factory = GreedyIKPlanner |
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Original file line number | Diff line number | Diff line change |
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@@ -1,10 +1,12 @@ | ||
from methods import PlanToEndEffectorOffsetTest | ||
from methods.PlanToEndEffectorOffset import PlanToEndEffectorOffsetCollisionTest | ||
from planning_helpers import BasePlannerTest | ||
from prpy.planning.vectorfield import VectorFieldPlanner | ||
from unittest import TestCase | ||
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class VectorFieldPlannerTest(BasePlannerTest, | ||
PlanToEndEffectorOffsetTest, | ||
PlanToEndEffectorOffsetCollisionTest, | ||
TestCase): | ||
planner_factory = VectorFieldPlanner |