updated some more tests
@@ -50,9 +50,11 @@ def test_vel_robust_accel(vel_accel_robustaccel, path, solver_name, i, H, g, x_i
vel_c, _, robust_acc_c = vel_accel_robustaccel
path_dist = np.linspace(0, path.get_duration(), 10 + 1)
if solver_name == "cvxpy":
- solver = toppra.solverwrapper.cvxpyWrapper([vel_c, robust_acc_c], path, path_dist)
+ from toppra.solverwrapper.cvxpy_solverwrapper import cvxpyWrapper
+ solver = cvxpyWrapper([vel_c, robust_acc_c], path, path_dist)
elif solver_name == "ECOS":
- solver = toppra.solverwrapper.ecosWrapper([vel_c, robust_acc_c], path, path_dist)
+ from toppra.solverwrapper.ecos_solverwrapper import ecosWrapper
+ solver = ecosWrapper([vel_c, robust_acc_c], path, path_dist)
else:
assert False
@@ -116,11 +118,14 @@ def test_compare_accel_robust_accel(vel_accel_robustaccel, path, solver_name, i,
path_dist = np.linspace(0, path.get_duration(), 10)
if solver_name == "cvxpy":
- solver = toppra.solverwrapper.cvxpyWrapper([vel_c, acc_c], path, path_dist)
- ro_solver = toppra.solverwrapper.cvxpyWrapper([vel_c, robust_acc_c], path, path_dist)
+ from toppra.solverwrapper.cvxpy_solverwrapper import cvxpyWrapper
+ solver = cvxpyWrapper([vel_c, acc_c], path, path_dist)
+ ro_solver = cvxpyWrapper([vel_c, robust_acc_c], path, path_dist)
elif solver_name == "ECOS":
- solver = toppra.solverwrapper.cvxpyWrapper([vel_c, acc_c], path, path_dist)
- ro_solver = toppra.solverwrapper.ecosWrapper([vel_c, robust_acc_c], path, path_dist)
+ from toppra.solverwrapper.cvxpy_solverwrapper import cvxpyWrapper
+ from toppra.solverwrapper.ecos_solverwrapper import ecosWrapper
+ solver = cvxpyWrapper([vel_c, acc_c], path, path_dist)
+ ro_solver = ecosWrapper([vel_c, robust_acc_c], path, path_dist)
else:
assert False
