feat: 生成逆运动学论文对比图

2026-08-24 17:55:44 +08:00
parent b0f4fafd54
commit 6df791b00f
2 changed files with 415 additions and 1 deletions
@@ -256,3 +256,48 @@ def test_summarize_result_uses_report_metrics() -> None:
    assert actual.position_rmse_m == pytest.approx(0.0035355339)
    assert actual.orientation_rmse_rad == pytest.approx(0.0158113883)
    assert actual.max_joint_speed_deg_s == pytest.approx(180.0)
+
+
+def test_write_outputs_creates_consistent_files(tmp_path: Path) -> None:
+    result = comparison.ReplayResult(
+        method="qp",
+        times_s=np.asarray([0.0, 0.1]),
+        target_poses=np.tile(
+            [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], (2, 1)
+        ),
+        actual_poses=np.tile(
+            [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0], (2, 1)
+        ),
+        joints=np.zeros((2, 7)),
+        velocities=np.zeros((2, 7)),
+        position_errors_m=np.asarray([0.001, 0.002]),
+        orientation_errors_rad=np.asarray([0.001, 0.002]),
+        joint_margins=np.asarray([0.2, 0.2]),
+        solve_durations_ms=np.asarray([0.5, 0.6]),
+        success=np.asarray([True, True]),
+        command_limited=np.asarray([False, False]),
+    )
+    summary = comparison.summarize_result(result)
+
+    comparison.write_outputs(
+        tmp_path,
+        {"pinv": result, "dls": result, "qp": result},
+        {"pinv": summary, "dls": summary, "qp": summary},
+        selected_damping=0.03,
+        source_path=Path("episode_0.hdf5"),
+        git_commit="abc1234",
+    )
+
+    expected = {
+        "samples.csv",
+        "summary.json",
+        "figure_2_11_tracking_error.svg",
+        "figure_2_11_tracking_error.png",
+        "figure_2_12_joint_constraints.svg",
+        "figure_2_12_joint_constraints.png",
+        "figure_2_13_summary.svg",
+        "figure_2_13_summary.png",
+        "analysis_2.3.4.md",
+    }
+    assert expected == {path.name for path in tmp_path.iterdir()}
+    assert all((tmp_path / name).stat().st_size > 0 for name in expected)