Merge pull request #213 from personalrobotics/trajopt_tests

Added tests for Trajopt tests (two failures, one error).

Author: gilwoolee

tests/planning/methods/PlanToEndEffectorOffset.py

@@ -90,7 +90,7 @@ def test_PlanToEndEffectorOffset_StartInSelfCollision_Throws(self):
             self.planner.PlanToEndEffectorOffset(
                 self.robot, direction=self.direction, distance=self.distance)
 
-    def test_PlanToEndEffectorOffset_GoalInCollision_Throws(self):
+    def test_PlanToEndEffectorOffset_GoalInEnvCollision_Throws(self):
         # Setup
         with self.env:
             self.robot.SetActiveDOFValues(self.config_infeasible_env_movement)
@@ -100,7 +100,7 @@ def test_PlanToEndEffectorOffset_GoalInCollision_Throws(self):
             self.planner.PlanToEndEffectorOffset(
                 self.robot, direction=self.direction, distance=self.distance)
 
-    def test_PlanToEndEffectorOffset_GoalInCollision_Throws(self):
+    def test_PlanToEndEffectorOffset_GoalInSelfCollision_Throws(self):
         # Setup
         with self.env:
             self.robot.SetActiveDOFValues(self.config_infeasible_self_movement)

tests/planning/test_TrajoptPlanner.py

@@ -0,0 +1,22 @@
+from methods import (
+    PlanToConfigurationTest,
+    PlanToConfigurationStraightLineTest,
+    PlanToEndEffectorPoseTest,
+    PlanToEndEffectorOffsetTest
+)
+from methods.PlanToConfiguration import PlanToConfigurationTestCollisionTest
+from planning_helpers import BasePlannerTest
+from prpy.planning.snap import SnapPlanner
+from unittest import TestCase
+from or_trajopt import TrajoptPlanner
+
+class TrajoptPlannerTest(BasePlannerTest,
+			PlanToConfigurationTest,
+			PlanToEndEffectorPoseTest,
+			PlanToEndEffectorOffsetTest,
+			TestCase):
+    planner_factory = TrajoptPlanner
+
+    def setUp(self):
+        super(TrajoptPlannerTest, self).setUp()
+