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* Adding ndt mapping script and doc * Adding ndt mapping script and doc * Adding ndt mapping script and doc * Adding ndt mapping script and doc * Adding ndt mapping script and doc * Adding ndt mapping script and doc * Adding ndt mapping script and doc * Adding ndt mapping script and doc
41 lines
1.3 KiB
Python
41 lines
1.3 KiB
Python
from Mapping.grid_map_lib.grid_map_lib import GridMap
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import conftest
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import numpy as np
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def test_position_set():
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grid_map = GridMap(100, 120, 0.5, 10.0, -0.5)
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grid_map.set_value_from_xy_pos(10.1, -1.1, 1.0)
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grid_map.set_value_from_xy_pos(10.1, -0.1, 1.0)
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grid_map.set_value_from_xy_pos(10.1, 1.1, 1.0)
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grid_map.set_value_from_xy_pos(11.1, 0.1, 1.0)
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grid_map.set_value_from_xy_pos(10.1, 0.1, 1.0)
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grid_map.set_value_from_xy_pos(9.1, 0.1, 1.0)
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def test_polygon_set():
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ox = [0.0, 4.35, 20.0, 50.0, 100.0, 130.0, 40.0]
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oy = [0.0, -4.15, -20.0, 0.0, 30.0, 60.0, 80.0]
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grid_map = GridMap(600, 290, 0.7, 60.0, 30.5)
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grid_map.set_value_from_polygon(ox, oy, 1.0, inside=False)
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grid_map.set_value_from_polygon(np.array(ox), np.array(oy),
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1.0, inside=False)
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def test_xy_and_grid_index_conversion():
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grid_map = GridMap(100, 120, 0.5, 10.0, -0.5)
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for x_ind in range(grid_map.width):
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for y_ind in range(grid_map.height):
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grid_ind = grid_map.calc_grid_index_from_xy_index(x_ind, y_ind)
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x_ind_2, y_ind_2 = grid_map.calc_xy_index_from_grid_index(grid_ind)
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assert x_ind == x_ind_2
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assert y_ind == y_ind_2
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if __name__ == '__main__':
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conftest.run_this_test(__file__)
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