common_test_openrave.py		common_test_openrave.py
	skipping to change at line 36		skipping to change at line 36
	import os		import os
	import cPickle as pickle		import cPickle as pickle
	_multiprocess_can_split_ = True		_multiprocess_can_split_ = True
	g_epsilon = 1e-7		g_epsilon = 1e-7
	g_jacobianstep = 0.01		g_jacobianstep = 0.01
	g_envfiles = ['data/lab1.env.xml','data/pr2wam_test1.env.xml','data/hanoi_c omplex.env.xml']		g_envfiles = ['data/lab1.env.xml','data/pr2wam_test1.env.xml','data/hanoi_c omplex.env.xml']
	g_robotfiles = ['robots/pr2-beta-static.zae','robots/barrettsegway.robot.xm l','robots/neuronics-katana.zae','robots/pa10schunk.robot.xml','robots/barr ettwam-dual.robot.xml']		g_robotfiles = ['robots/pr2-beta-static.zae','robots/barrettsegway.robot.xm l','robots/neuronics-katana.zae','robots/pa10schunk.robot.xml','robots/barr ettwam-dual.robot.xml']
	def setup_module(module):		def setup_module(module):
	os.environ['OPENRAVE_DATABASE'] = os.path.join(os.getcwd(),'.openravete		dbdir = os.path.join(os.getcwd(),'.openravetest')
	st') # don't mess with the default OPENRAVE_DATABASE		os.environ['OPENRAVE_DATABASE'] = dbdir
			os.environ['OPENRAVE_HOME'] = dbdir
	RaveInitialize(load_all_plugins=True, level=int32(DebugLevel.Info)|int3 2(DebugLevel.VerifyPlans))		RaveInitialize(load_all_plugins=True, level=int32(DebugLevel.Info)|int3 2(DebugLevel.VerifyPlans))
			assert(os.path.samefile(RaveGetHomeDirectory(),dbdir))
	def teardown_module(module):		def teardown_module(module):
	RaveDestroy()		RaveDestroy()
	def transdist(list0,list1):		def transdist(list0,list1):
	assert(len(list0)==len(list1))		assert(len(list0)==len(list1))
	return sum([sum(abs(item0-item1)) for item0, item1 in izip(list0,list1) ])		return sum([sum(abs(item0-item1)) for item0, item1 in izip(list0,list1) ])
	def axisangledist(axis0,axis1):		def axisangledist(axis0,axis1):
	return arccos(numpy.minimum(1.0,abs(dot(quatFromAxisAngle(axis0),quatFr omAxisAngle(axis1)))))		return arccos(numpy.minimum(1.0,abs(dot(quatFromAxisAngle(axis0),quatFr omAxisAngle(axis1)))))
	skipping to change at line 118		skipping to change at line 121
	self.env.AddRobot(robot,True)		self.env.AddRobot(robot,True)
	self._PreprocessRobot(robot)		self._PreprocessRobot(robot)
	return robot		return robot
	def LoadRobotData(self,*args,**kwargs):		def LoadRobotData(self,*args,**kwargs):
	robot=self.env.ReadRobotData(*args,**kwargs)		robot=self.env.ReadRobotData(*args,**kwargs)
	self.env.AddRobot(robot,True)		self.env.AddRobot(robot,True)
	self._PreprocessRobot(robot)		self._PreprocessRobot(robot)
	return robot		return robot
			def RunTrajectory(self,robot,traj):
			assert(traj is not None)
			robot.GetController().SetPath(traj)
			while not robot.GetController().IsDone():
			self.env.StepSimulation(0.01)
	def _PreprocessEnv(self):		def _PreprocessEnv(self):
	for robot in self.env.GetRobots():		for robot in self.env.GetRobots():
	self._PreprocessRobot(robot)		self._PreprocessRobot(robot)
	def _PreprocessRobot(self,robot):		def _PreprocessRobot(self,robot):
	if robot.GetController() is not None and robot.GetController().GetX MLId().lower() == 'idealcontroller':		if robot.GetController() is not None and robot.GetController().GetX MLId().lower() == 'idealcontroller':
	# need to throw exceptions so test fails		# need to throw exceptions so test fails
	robot.GetController().SendCommand('SetThrowExceptions 1')		robot.GetController().SendCommand('SetThrowExceptions 1')
End of changes. 3 change blocks.
	2 lines changed or deleted		10 lines changed or added
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