Add unit and integration tests for all modules #13
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Modify the persistent excitation condition evaluation in `evaluate_persistent_excitation` to check for `rank >= n * order` insted of requiring an exact match. This aligns with the theoretical definition, allowing signals that are more "exciting" than necessary to pass this check.
Modify plot functions to only select initial step plot elements (`rect`, `right_rect_line`, `left_rect_line`, `init_text`, `control_text`) when initial steps highlighting is enabled. Previously, these elements were always selected from their storage lists, causing errors when they were not initialized (e.g., when initial steps highlighting was disabled).
Remove the `c` parameter from `NonlinearDataDrivenMPCParams`. This parameter was mistakenly included and is not used by the nonlinear data-driven MPC controller.
Set the CI workflow container to `python:3.12-slim-bullseye`, which includes `gcc` and other essential build tools required by libraries used during test execution.
Install ffmpeg in the CI workflow runner to support saving animation files during tests. This prevents the following error during CI workflow tests: "FileNotFoundError: [Errno 2] No such file or directory: 'ffmpeg'"
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The added tests are well-structured and provide 98% coverage across the codebase. As all checks have passed, I’m proceeding with the merge. |
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This PR adds unit and integration tests for all the modules in the project using
pytest. Additionally, it fixes some unintended behavior in utility modules.Key changes:
test_placeholder.py.