serialization.py

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import unittest
 
import pinocchio as pin
 
from test_case import PinocchioTestCase as TestCase
 
main_path = "./serialization-data"
 
class TestSerialization(TestCase):
 
  def testTXT(self):
    model = pin.buildSampleModelHumanoidRandom()
    filename = main_path + "/model.txt"
    model.saveToText(filename)
 
    model2 = pin.Model()
    model2.loadFromText(filename)
 
    self.assertTrue(model == model2)
 
  def testXML(self):
    model = pin.buildSampleModelHumanoidRandom()
    filename = main_path + "/model.xml"
    tag_name = "Model"
    model.saveToXML(filename,tag_name)
    
    model2 = pin.Model()
    model2.loadFromXML(filename,tag_name)
    
    self.assertTrue(model == model2)
  
  def testBIN(self):
    model = pin.buildSampleModelHumanoidRandom()
    filename = main_path + "/model.bin"
    model.saveToBinary(filename)
    
    model2 = pin.Model()
    model2.loadFromBinary(filename)
    
    self.assertTrue(model == model2)
 
if __name__ == '__main__':
  unittest.main()