improve tests

petercorke · petercorke · commit e9cfddcf0041 · 2021-04-02T14:20:49.000+10:00
diff --git a/tests/test_DHRobot.py b/tests/test_DHRobot.py
@@ -1086,8 +1086,8 @@ def test_cinertia(self):
             [0.2795, -0.0703, 0.2767, 0.0000, 0.1713, 0.0000],
             [0.0000, -0.9652, -0.0000, 0.1941, 0.0000, 0.5791]]
 
-        M0 = puma.cinertia(q)
-        M1 = puma.cinertia(np.c_[q, q].T)
+        M0 = puma.inertia_x(q)
+        M1 = puma.inertia_x(np.c_[q, q].T)
 
         nt.assert_array_almost_equal(M0, Mr, decimal=4)
         nt.assert_array_almost_equal(M1[0, :, :], Mr, decimal=4)
@@ -1195,7 +1195,6 @@ def test_jacob_dot(self):
         q = puma.qr
 
         j0 = puma.jacob_dot(q, q)
-        j1 = puma.jacob_dot()
 
         res = [-0.0000, -1.0654, -0.3702,  2.4674, 0, 0]
 
diff --git a/tests/test_ERobot.py b/tests/test_ERobot.py
@@ -11,7 +11,6 @@
 import spatialmath as sm
 from math import pi, sin, cos
 
-
 class TestERobot(unittest.TestCase):
 
     def test_ets_init(self):
@@ -725,6 +724,60 @@ def test_invdyn(self):
         tau = robot.rne(q, z, [1, 1])
         nt.assert_array_almost_equal(tau, np.r_[d11 + d12, d21 + d22])
 
+class TestERobot2(unittest.TestCase):
+    def test_plot2(self):
+        panda = rtb.models.DH.Panda()
+        e = panda.plot2(panda.qr, block=False, name=True)
+        e.close()
+
+    def test_plot2_traj(self):
+        panda = rtb.models.DH.Panda()
+        q = np.random.rand(3, 7)
+        e = panda.plot2(block=False, q=q, dt=0)
+        e.close()
+
+    def test_teach2_basic(self):
+        l0 = rtb.DHLink(d=2)
+        r0 = rtb.DHRobot([l0, l0])
+        e = r0.teach2(block=False)
+        e.step()
+        e.close()
+
+    def test_teach2(self):
+        panda = rtb.models.DH.Panda()
+        e = panda.teach(panda.qr, block=False)
+        e.close()
+
+        e2 = panda.teach2(block=False, q=panda.qr)
+        e2.close()
+
+    def test_plot_with_vellipse2(self):
+        panda = rtb.models.DH.Panda()
+        e = panda.plot2(
+            panda.qr, block=False, vellipse=True, limits=[1, 2, 1, 2])
+        e.step()
+        e.close()
+
+    def test_plot_with_fellipse2(self):
+        panda = rtb.models.DH.Panda()
+        e = panda.plot2(panda.qr, block=False, fellipse=True)
+        e.close()
+
+    def test_plot_with_vellipse2_fail(self):
+        panda = rtb.models.DH.Panda()
+        panda.q = panda.qr
+
+        from roboticstoolbox.backends.PyPlot import PyPlot2
+        e = PyPlot2()
+        e.launch()
+        e.add(panda.fellipse(
+                q=panda.qr, centre=[0, 1]))
+
+        with self.assertRaises(ValueError):
+            e.add(panda.fellipse(
+                q=panda.qr, centre='ee', opt='rot'))
+
+        e.close()
 
 if __name__ == '__main__':   # pragma nocover
 
