Merge pull request #1853 from jcarpent/topic/python

Enforce testing of Python bindings
stack-of-tasks · Feb 1, 2023 · a928f6d · a928f6d
2 parents 990212b + 00153d0
commit a928f6d
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diff --git a/unittest/python/bindings_SE3.py b/unittest/python/bindings_SE3.py
@@ -152,5 +152,11 @@ def compute (m):
         M_from_h = pin.SE3(h)
         self.assertTrue(M == M_from_h)
 
+    def test_several_init(self):
+        for _ in range(1000000):
+            r = pin.SE3.Random() * pin.SE3.Random()
+            s = r.__str__()
+            self.assertTrue(s != '')
+
 if __name__ == '__main__':
     unittest.main()
diff --git a/unittest/python/bindings_force.py b/unittest/python/bindings_force.py
@@ -75,5 +75,10 @@ def test_conversion(self):
 
         self.assertTrue(f_from_array == f)
 
+    def test_several_init(self):
+        for _ in range(1000000):
+            f = pin.Force.Zero() + pin.Force.Zero()
+            self.assertTrue(np.allclose(f.vector, zero(6)))
+
 if __name__ == '__main__':
     unittest.main()
diff --git a/unittest/python/bindings_inertia.py b/unittest/python/bindings_inertia.py
@@ -102,5 +102,11 @@ def test_array(self):
 
         self.assertApprox(I_array,I.matrix())
 
+    def test_several_init(self):
+        for _ in range(1000000):
+            i = pin.Inertia.Random() + pin.Inertia.Random()
+            s = i.__str__()
+            self.assertTrue(s != '')
+
 if __name__ == '__main__':
     unittest.main()
diff --git a/unittest/python/bindings_motion.py b/unittest/python/bindings_motion.py
@@ -74,5 +74,10 @@ def test_conversion(self):
 
         self.assertTrue(m_from_array == m)
 
+    def test_several_init(self):
+        for _ in range(1000000):
+            v = pin.Motion.Zero() + pin.Motion.Zero()
+            self.assertTrue(np.allclose(v.vector, zero(6)))
+
 if __name__ == '__main__':
     unittest.main()