test_create_path_constraints.py 文件源码

def test_slack_bounds(self, rave_re_torque_data):
        """ Test pc.l, pc.h vectors
        """
        data, pc = rave_re_torque_data
        path, ss, robot, J_lc = data
        tau_bnd = robot.GetDOFTorqueLimits()

        for i in range(pc.N + 1):
            npt.assert_allclose(pc.l[i], -tau_bnd)
            npt.assert_allclose(pc.h[i], tau_bnd)