split 3D plot tests into separate function, kind of slow to run

Author: petercorke

tests/base/test_transforms3d.py

@@ -17,10 +17,6 @@
 
 from spatialmath.base.transforms3d import *
 from spatialmath.base.transformsNd import isR, t2r, r2t, rt2tr
-
-import matplotlib.pyplot as plt
-
-
 class Test3D(unittest.TestCase):
     def test_checks(self):
         # 2D case, with rotation matrix
@@ -496,57 +492,6 @@ def test_print(self):
         self.assertTrue("eul" in s)
         self.assertFalse("zyx" in s)
 
-    def test_plot(self):
-        plt.figure()
-        # test options
-        trplot(
-            transl(1, 2, 3),
-            block=False,
-            frame="A",
-            style="line",
-            width=1,
-            dims=[0, 10, 0, 10, 0, 10],
-        )
-        trplot(
-            transl(1, 2, 3),
-            block=False,
-            frame="A",
-            style="arrow",
-            width=1,
-            dims=[0, 10, 0, 10, 0, 10],
-        )
-        trplot(
-            transl(1, 2, 3),
-            block=False,
-            frame="A",
-            style="rgb",
-            width=1,
-            dims=[0, 10, 0, 10, 0, 10],
-        )
-        trplot(transl(3, 1, 2), block=False, color="red", width=3, frame="B")
-        trplot(
-            transl(4, 3, 1) @ trotx(math.pi / 3),
-            block=False,
-            color="green",
-            frame="c",
-            dims=[0, 4, 0, 4, 0, 4],
-        )
-
-        # test for iterable
-        plt.clf()
-        T = [transl(1, 2, 3), transl(2, 3, 4), transl(3, 4, 5)]
-        trplot(T)
-
-        plt.clf()
-        tranimate(transl(1, 2, 3), repeat=False, wait=True)
-
-        tranimate(transl(1, 2, 3), repeat=False, wait=True)
-        # run again, with axes already created
-        tranimate(transl(1, 2, 3), repeat=False, wait=True, dims=[0, 10, 0, 10, 0, 10])
-
-        plt.close("all")
-        # test animate with line not arrow, text, test with SO(3)
-
     def test_trinterp(self):
         T0 = trotx(-0.3)
         T1 = trotx(0.3)

tests/base/test_transforms3d_plot.py

@@ -0,0 +1,83 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+Created on Fri Apr 10 14:19:04 2020
+
+@author: corkep
+
+"""
+
+
+import numpy as np
+import numpy.testing as nt
+import unittest
+from math import pi
+import math
+from scipy.linalg import logm, expm
+
+from spatialmath.base.transforms3d import *
+from spatialmath.base.transformsNd import isR, t2r, r2t, rt2tr
+
+import matplotlib.pyplot as plt
+
+
+class Test3D(unittest.TestCase):
+
+
+    def test_plot(self):
+        plt.figure()
+        # test options
+        trplot(
+            transl(1, 2, 3),
+            block=False,
+            frame="A",
+            style="line",
+            width=1,
+            dims=[0, 10, 0, 10, 0, 10],
+        )
+        trplot(
+            transl(1, 2, 3),
+            block=False,
+            frame="A",
+            style="arrow",
+            width=1,
+            dims=[0, 10, 0, 10, 0, 10],
+        )
+        trplot(
+            transl(1, 2, 3),
+            block=False,
+            frame="A",
+            style="rgb",
+            width=1,
+            dims=[0, 10, 0, 10, 0, 10],
+        )
+        trplot(transl(3, 1, 2), block=False, color="red", width=3, frame="B")
+        trplot(
+            transl(4, 3, 1) @ trotx(math.pi / 3),
+            block=False,
+            color="green",
+            frame="c",
+            dims=[0, 4, 0, 4, 0, 4],
+        )
+
+        # test for iterable
+        plt.clf()
+        T = [transl(1, 2, 3), transl(2, 3, 4), transl(3, 4, 5)]
+        trplot(T)
+
+        plt.clf()
+        tranimate(transl(1, 2, 3), repeat=False, wait=True)
+
+        tranimate(transl(1, 2, 3), repeat=False, wait=True)
+        # run again, with axes already created
+        tranimate(transl(1, 2, 3), repeat=False, wait=True, dims=[0, 10, 0, 10, 0, 10])
+
+        plt.close("all")
+        # test animate with line not arrow, text, test with SO(3)
+
+    
+
+# ---------------------------------------------------------------------------------------#
+if __name__ == "__main__":
+
+    unittest.main()