mirror of
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aa61a6ea57
* it works and is WAY faster than a* * some bug fixes from testing different scenarios * add some docs & address todos * add sipp test * spiff up comments revert changes in speed-up * explain what the removal is doing * linting * fix docs build * docs formatting * revert change to file (maybe linter did it?) * point at gifs in gifs repo * use raw githubusercontent gif links * change formatting on planner results * format output differently * proper formatting final * missing underline * revert unintended change * grammar + add descriptions for gifs * missing :: * add title to gifs section * dont use sections for sub-sections * constent a* spelling * Update PathPlanning/TimeBasedPathPlanning/GridWithDynamicObstacles.py Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Update tests/test_safe_interval_path_planner.py Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Update docs/modules/5_path_planning/time_based_grid_search/time_based_grid_search_main.rst Co-authored-by: Atsushi Sakai <asakai.amsl+github@gmail.com> * Update PathPlanning/TimeBasedPathPlanning/SafeInterval.py Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * addressing comments * revert np.full change --------- Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: Atsushi Sakai <asakai.amsl+github@gmail.com>
34 lines
796 B
Python
34 lines
796 B
Python
from PathPlanning.TimeBasedPathPlanning.GridWithDynamicObstacles import (
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Grid,
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ObstacleArrangement,
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Position,
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)
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from PathPlanning.TimeBasedPathPlanning import SafeInterval as m
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import numpy as np
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import conftest
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def test_1():
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start = Position(1, 11)
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goal = Position(19, 19)
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grid_side_length = 21
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grid = Grid(
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np.array([grid_side_length, grid_side_length]),
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obstacle_arrangement=ObstacleArrangement.ARRANGEMENT1,
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)
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m.show_animation = False
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planner = m.SafeIntervalPathPlanner(grid, start, goal)
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path = planner.plan(False)
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# path should have 31 entries
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assert len(path.path) == 31
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# path should end at the goal
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assert path.path[-1].position == goal
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if __name__ == "__main__":
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conftest.run_this_test(__file__)
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