add test

Het369 · Feb 15, 2017 · 57d71d5 · 57d71d5
1 parent dbd4425
commit 57d71d5
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Showing 2 changed files with 16 additions and 10 deletions.
diff --git a/mpc_modeling/mpc_modeling_with_ECOS.py b/mpc_modeling/mpc_modeling_with_ECOS.py
@@ -182,11 +182,12 @@ def test3():
         plt.legend()
         plt.grid(True)
 
-        x, u = opt_mpc_with_state_constr(A, B, N, Q, R, P, x0, umax=umax, umin=umin)
-        x1 = np.array(x[0, :]).flatten()
-        x2 = np.array(x[1, :]).flatten()
-        u = np.array(u).flatten()
+    x, u = opt_mpc_with_state_constr(A, B, N, Q, R, P, x0, umax=umax, umin=umin)
+    x1 = np.array(x[0, :]).flatten()
+    x2 = np.array(x[1, :]).flatten()
+    u = np.array(u).flatten()
 
+    if DEBUG_:
         #  flg, ax = plt.subplots(1)
         plt.plot(x1, '*r', label="x1")
         plt.plot(x2, '*b', label="x2")
@@ -218,12 +219,13 @@ def test4():
     rx2 = np.array(x[1, :]).flatten()
     ru = np.array(u[0, :]).flatten()
 
-    flg, ax = plt.subplots(1)
-    plt.plot(rx1, label="x1")
-    plt.plot(rx2, label="x2")
-    plt.plot(ru, label="u")
-    plt.legend()
-    plt.grid(True)
+    if DEBUG_:
+        flg, ax = plt.subplots(1)
+        plt.plot(rx1, label="x1")
+        plt.plot(rx2, label="x2")
+        plt.plot(ru, label="u")
+        plt.legend()
+        plt.grid(True)
 
     x, u = opt_mpc_with_state_constr(A, B, N, Q, R, P, x0)
     x1 = np.array(x[0, :]).flatten()

diff --git a/tests/test_mpc_tracking.py b/tests/test_mpc_tracking.py
@@ -5,6 +5,10 @@
 author Atsushi Sakai
 """
 import unittest
+
+import sys
+sys.path.append("./mpc_tracking/")
+
 import mpc_tracking.mpc_tracking