serialization.py

Go to the documentation of this file.

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()