fix VisibleDeprecation Warning (AtsushiSakai#358)

* try coverage

* add python warning setting

* add random seed for test coverage

SLAM/EKFSLAM/ekf_slam.py

@@ -117,7 +117,7 @@ def jacob_motion(x, u):
 
     jF = np.array([[0.0, 0.0, -DT * u[0] * math.sin(x[2, 0])],
                    [0.0, 0.0, DT * u[0] * math.cos(x[2, 0])],
-                   [0.0, 0.0, 0.0]])
+                   [0.0, 0.0, 0.0]], dtype=np.float64)
 
     G = np.eye(STATE_SIZE) + Fx.T @ jF @ Fx
 
@@ -236,8 +236,9 @@ def main():
         if show_animation:  # pragma: no cover
             plt.cla()
             # for stopping simulation with the esc key.
-            plt.gcf().canvas.mpl_connect('key_release_event',
-                    lambda event: [exit(0) if event.key == 'escape' else None])
+            plt.gcf().canvas.mpl_connect(
+                'key_release_event',
+                lambda event: [exit(0) if event.key == 'escape' else None])
 
             plt.plot(RFID[:, 0], RFID[:, 1], "*k")
             plt.plot(xEst[0], xEst[1], ".r")

runtests.sh

@@ -1,5 +1,6 @@
 #!/usr/bin/env bash
 echo "Run test suites! "
+export PYTHONWARNINGS=default  # show warning
 #python -m unittest discover tests 
 #python -Wignore -m unittest discover tests #ignore warning
 coverage run -m unittest discover tests # generate coverage file

tests/test_batch_informed_rrt_star.py

@@ -1,14 +1,17 @@
 from unittest import TestCase
 import sys
 import os
+import random
 sys.path.append(os.path.dirname(__file__) + "/../")
 try:
     from PathPlanning.BatchInformedRRTStar import batch_informed_rrtstar as m
-except:
+except ImportError:
     raise
 
 print(__file__)
 
+random.seed(12345)
+
 
 class Test(TestCase):
 

tests/test_closed_loop_rrt_star_car.py

@@ -1,15 +1,17 @@
 import os
 import sys
+import random
 from unittest import TestCase
 
 sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../")
 sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
                 "/../PathPlanning/ClosedLoopRRTStar/")
 try:
     from PathPlanning.ClosedLoopRRTStar import closed_loop_rrt_star_car as m
-except:
+except ImportError:
     raise
 
+random.seed(12345)
 
 print(__file__)
 

tests/test_dubins_path_planning.py

@@ -1,6 +1,7 @@
 from unittest import TestCase
 
 import numpy as np
+np.random.seed(12345)
 
 from PathPlanning.DubinsPath import dubins_path_planning
 

tests/test_lqr_rrt_star.py

@@ -1,16 +1,19 @@
 from unittest import TestCase
 import sys
 import os
+import random
 sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../")
 sys.path.append(os.path.dirname(os.path.abspath(__file__))
                 + "/../PathPlanning/LQRRRTStar/")
 try:
     from PathPlanning.LQRRRTStar import lqr_rrt_star as m
-except:
+except ImportError:
     raise
 
 print(__file__)
 
+random.seed(12345)
+
 
 class Test(TestCase):
 

tests/test_n_joint_arm_to_point_control.py

@@ -1,5 +1,6 @@
 import os
 import sys
+import random
 from unittest import TestCase
 
 sys.path.append(os.path.dirname(__file__) + "/../ArmNavigation/n_joint_arm_to_point_control/")
@@ -8,6 +9,8 @@
 
 print(__file__)
 
+random.seed(12345)
+
 
 class Test(TestCase):
 

tests/test_rrt.py

@@ -1,5 +1,6 @@
 import os
 import sys
+import random
 from unittest import TestCase
 
 sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../")
@@ -12,6 +13,8 @@
 
 print(__file__)
 
+random.seed(12345)
+
 
 class Test(TestCase):