#!/usr/bin/env python

"""

@author: Jesse Haviland

"""

# import numpy.testing as nt

# import numpy as np

import roboticstoolbox as rp

# import spatialmath as sm

import unittest

class TestPyPlot(unittest.TestCase):

def test_PyPlot(self):

panda = rp.models.DH.Panda()

from roboticstoolbox.backends.PyPlot import PyPlot

env = PyPlot()

env.launch()

env.add(panda)

env.step()

# env._plot_handler(None, None)

env.close()

def test_PyPlot_invisible(self):

panda = rp.models.DH.Panda()

from roboticstoolbox.backends.PyPlot import PyPlot

env = PyPlot()

env.launch()

env.add(panda, display=False)

env.step()

# env._plot_handler(None, None)

env.close()

def test_unimplemented(self):

# TODO remove these as implemented

from roboticstoolbox.backends.PyPlot import PyPlot

env = PyPlot()

env.reset()

env.restart()

env.remove(0)

if __name__ == "__main__":

unittest.main()