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fix rrt star reeds shepp rewire and test

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This commit is contained in:
Atsushi Sakai
2019-07-27 15:56:16 +09:00
parent 67540275a6
commit 0937486803
5 changed files with 168 additions and 234 deletions
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8
tests/test_dubins_path_planning.py
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@@ -1,7 +1,9 @@
from unittest import TestCase
from PathPlanning.DubinsPath import dubins_path_planning
import numpy as np
from PathPlanning.DubinsPath import dubins_path_planning
class Test(TestCase):
@@ -19,8 +21,8 @@ class Test(TestCase):
px, py, pyaw, mode, clen = dubins_path_planning.dubins_path_planning(
start_x, start_y, start_yaw, end_x, end_y, end_yaw, curvature)
assert(abs(px[-1] - end_x) <= 0.1)
assert(abs(py[-1] - end_y) <= 0.1)
assert (abs(px[-1] - end_x) <= 0.5)
assert (abs(py[-1] - end_y) <= 0.5)
assert(abs(pyaw[-1] - end_yaw) <= 0.1)
def test2(self):