Test plotting and test res.csv.

scripts/ci_script.sh

@@ -2,6 +2,9 @@
 
 cd experiments/example
 ../../plannerbenchmark/exec/runner -c setup/exp.yaml -p pdplanner setup/planner.yaml
+resultsFolder=$(ls results/)
+resPath="results/${resultsFolder}"
+../../plannerbenchmark/exec/postProcessor --exp $resPath --plot -k solverTime clearance --no-open
 cd ../..
 pytest tests
 rm -r experiments/example/results/pdplanner_*

tests/integration_test.py

@@ -1,6 +1,8 @@
 import os
 import pytest
 import yaml
+import csv
+import numpy as np
 
 
 def test_resultDirExists():
@@ -17,6 +19,8 @@ def test_resultDirExists():
     assert 'res.csv' in filenames
     assert 'planner.yaml' in filenames
     assert 'exp.yaml' in filenames
+    assert 'plots' in filenames
+
 
 def test_yamlContents():
     curDirName = os.path.dirname(os.path.abspath(__file__))
@@ -43,3 +47,29 @@ def test_yamlContents():
         expDefaultDict = yaml.safe_load(expStream)
     assert expDict == expDefaultDict
 
+
+def test_plotting():
+    curDirName = os.path.dirname(os.path.abspath(__file__))
+    resDirName = curDirName + '/../experiments/example/results'
+    for fname in os.listdir(resDirName):
+        if os.path.isdir(os.path.join(resDirName,fname)):
+            resultFolder = os.path.join(resDirName, fname)
+    plotFolder = os.path.join(resultFolder, 'plots')
+    filenamesInPlot = os.listdir(plotFolder)
+    assert 'trajectory.eps' in filenamesInPlot
+
+
+def test_resFile():
+    curDirName = os.path.dirname(os.path.abspath(__file__))
+    resDirName = curDirName + '/../experiments/example/results'
+    for fname in os.listdir(resDirName):
+        if os.path.isdir(os.path.join(resDirName,fname)):
+            resultFolder = os.path.join(resDirName, fname)
+    resFileName = os.path.join(resultFolder, 'res.csv')
+    expectedResultFolder = curDirName + '/../experiments/example/expectedResult/pdplanner_default'
+    resDefaultFileName = os.path.join(expectedResultFolder, 'res.csv')
+    resArray = np.genfromtxt(resFileName, delimiter=',', skip_header=1)
+    resDefaultArray = np.genfromtxt(resDefaultFileName, delimiter=',', skip_header=1)
+    np.testing.assert_array_almost_equal(resArray[:, 2:], resDefaultArray[:, 2:])
+
+