Convert tests to use pytest instead of unittest

.github/workflows/tests.yml

@@ -17,8 +17,8 @@ jobs:
     - name: Static analysis
       run: ${{ env.RUN }} "git init && git add -A && pre-commit run --all"
     - name: Unit Tests
-      run: ${{ env.RUN }} "cd /project/examples; python -m unittest discover"
-  
+      run: ${{ env.RUN }} "pytest"
+
   docker_push:
     name: docker push
     runs-on: ubuntu-latest

examples/test_compare.py

@@ -1,9 +1,9 @@
 #!/usr/bin/env python3
+import pytest
 import os
 import sys
 import sympy as sp
 import numpy as np
-import unittest
 
 if __name__ == '__main__':  # generating sympy code
   from rednose.helpers.ekf_sym import gen_code
@@ -83,7 +83,7 @@ def get_R(self, kind, n):
     return R
 
 
-class TestCompare(unittest.TestCase):
+class TestCompare:
   def test_compare(self):
     np.random.seed(0)
 
@@ -115,9 +115,9 @@ def test_compare(self):
       kf.filter_py.predict_and_update_batch(t, ObservationKind.POSITION, z, R)
       kf.filter_pyx.predict_and_update_batch(t, ObservationKind.POSITION, z, R)
 
-      self.assertAlmostEqual(kf.filter_py.get_filter_time(), kf.filter_pyx.get_filter_time())
-      self.assertTrue(np.allclose(kf.filter_py.state(), kf.filter_pyx.state()))
-      self.assertTrue(np.allclose(kf.filter_py.covs(), kf.filter_pyx.covs()))
+      assert kf.filter_py.get_filter_time() == pytest.approx(kf.filter_pyx.get_filter_time())
+      assert np.allclose(kf.filter_py.state(), kf.filter_pyx.state())
+      assert np.allclose(kf.filter_py.covs(), kf.filter_pyx.covs())
 
 
 if __name__ == "__main__":

examples/test_kinematic_kf.py

@@ -1,12 +1,15 @@
+import pytest
 import os
 import numpy as np
 import unittest
+import sys
+sys.path.append(os.path.dirname(__file__))
 
 from kinematic_kf import KinematicKalman, ObservationKind, States  # pylint: disable=import-error
 
 GENERATED_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), 'generated'))
 
-class TestKinematic(unittest.TestCase):
+class TestKinematic:
   def test_kinematic_kf(self):
     np.random.seed(0)
 
@@ -49,10 +52,10 @@ def test_kinematic_kf(self):
 
     xs, xs_meas, xs_kf, vs_kf, xs_kf_std, vs_kf_std = (np.asarray(a) for a in (xs, xs_meas, xs_kf, vs_kf, xs_kf_std, vs_kf_std))
 
-    self.assertAlmostEqual(xs_kf[-1], -0.010866289677966417)
-    self.assertAlmostEqual(xs_kf_std[-1], 0.04477103863330089)
-    self.assertAlmostEqual(vs_kf[-1], -0.8553720537261753)
-    self.assertAlmostEqual(vs_kf_std[-1], 0.6695762270974388)
+    assert xs_kf[-1] == pytest.approx(-0.010866289677966417)
+    assert xs_kf_std[-1] == pytest.approx(0.04477103863330089)
+    assert vs_kf[-1] == pytest.approx(-0.8553720537261753)
+    assert vs_kf_std[-1] == pytest.approx(0.6695762270974388)
 
     if "PLOT" in os.environ:
       import matplotlib.pyplot as plt  # pylint: disable=import-error

requirements.txt

@@ -7,3 +7,4 @@ cffi
 scons
 pre-commit
 Cython
+pytest