fixed test_basic_can_linear.py
@@ -9,8 +9,6 @@ import numpy.testing as npt
import toppra
import toppra.constraint as constraint
-from toppra.solverwrapper import (cvxpyWrapper, qpOASESSolverWrapper, ecosWrapper,
- hotqpOASESSolverWrapper, seidelWrapper)
toppra.setup_logging(level="DEBUG")
@@ -112,14 +110,19 @@ def test_basic_init(basic_init_fixture, solver_name, i, H, g, x_ineq):
"""
constraints, path, path_discretization, vlim, alim = basic_init_fixture
if solver_name == "cvxpy":
+ from toppra.solverwrapper.cvxpy_solverwrapper import cvxpyWrapper
solver = cvxpyWrapper(constraints, path, path_discretization)
elif solver_name == 'qpOASES':
+ from toppra.solverwrapper.qpoases_solverwrapper import qpOASESSolverWrapper
solver = qpOASESSolverWrapper(constraints, path, path_discretization)
elif solver_name == 'hotqpOASES':
+ from toppra.solverwrapper.hot_qpoases_solverwrapper import hotqpOASESSolverWrapper
solver = hotqpOASESSolverWrapper(constraints, path, path_discretization)
elif solver_name == 'ecos' and H is None:
+ from toppra.solverwrapper.ecos_solverwrapper import ecosWrapper
solver = ecosWrapper(constraints, path, path_discretization)
elif solver_name == 'seidel' and H is None:
+ from toppra.solverwrapper.cy_seidel_solverwrapper import seidelWrapper
solver = seidelWrapper(constraints, path, path_discretization)
else:
return True # Skip all other tests
