copp 0.2.2

Convex-objective path parameterization for robotic trajectory planning.
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32

classdef test_error_handling < matlab.unittest.TestCase
    %TEST_ERROR_HANDLING CoppError facade over MEX-raised MException values.

    methods (Test)
        function copp_error_wraps_native_exception(testCase)
            robot = copp.Robot(1, 2);
            cleaner = onCleanup(@() robot.release());

            try
                robot.append_s([0.0, 0.0]);
                testCase.verifyFail("append_s should have rejected non-increasing stations.");
            catch err
                wrapped = copp.diag.CoppError.from_exception(err);
                testCase.verifyTrue(copp.diag.is_copp_error(err));
                testCase.verifyTrue(copp.diag.CoppError.is_copp_error(wrapped));
                testCase.verifyEqual(wrapped.identifier, "copp:ConstraintError");
                testCase.verifyEqual(wrapped.category, "ConstraintError");
                testCase.verifyNotEmpty(wrapped.message);

                last = copp.diag.last_error();
                testCase.verifyTrue(isstruct(last));
                testCase.verifyTrue(isfield(last, 'native_status'));
                testCase.verifyTrue(isfield(last, 'status'));
                testCase.verifyTrue(isfield(last, 'detail'));
                testCase.verifyGreaterThan(last.native_status, 0);
                testCase.verifyNotEmpty(char(last.status));
            end

            clear cleaner
        end
    end
end