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fix scanning error (#339)

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This commit is contained in:
Atsushi Sakai
2020-06-08 21:43:37 +09:00
committed by GitHub
parent a36ddb4cff
commit fa1585d880
11 changed files with 476 additions and 381 deletions
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153
tests/test_grid_based_sweep_coverage_path_planner.py
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@@ -2,8 +2,10 @@ import os
import sys
from unittest import TestCase
sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../PathPlanning/GridBasedSweepCPP")
sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../Mapping/grid_map_lib")
sys.path.append(os.path.dirname(
os.path.abspath(__file__)) + "/../PathPlanning/GridBasedSweepCPP")
sys.path.append(
os.path.dirname(os.path.abspath(__file__)) + "/../Mapping/grid_map_lib")
try:
import grid_based_sweep_coverage_path_planner
except ImportError:
@@ -14,88 +16,109 @@ grid_based_sweep_coverage_path_planner.do_animation = False
class TestPlanning(TestCase):
RIGHT = grid_based_sweep_coverage_path_planner.\
SweepSearcher.MovingDirection.RIGHT
LEFT = grid_based_sweep_coverage_path_planner. \
SweepSearcher.MovingDirection.LEFT
UP = grid_based_sweep_coverage_path_planner. \
SweepSearcher.SweepDirection.UP
DOWN = grid_based_sweep_coverage_path_planner. \
SweepSearcher.SweepDirection.DOWN
def test_planning1(self):
ox = [0.0, 20.0, 50.0, 100.0, 130.0, 40.0, 0.0]
oy = [0.0, -20.0, 0.0, 30.0, 60.0, 80.0, 0.0]
reso = 5.0
resolution = 5.0
px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.RIGHT,
sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.DOWN,
)
self.assertTrue(len(px) >= 5)
px, py = grid_based_sweep_coverage_path_planner.planning(
ox, oy, resolution,
moving_direction=self.RIGHT,
sweeping_direction=self.DOWN,
)
self.assertGreater(len(px), 5)
px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.LEFT,
sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.DOWN,
)
self.assertTrue(len(px) >= 5)
px, py = grid_based_sweep_coverage_path_planner.planning(
ox, oy, resolution,
moving_direction=self.LEFT,
sweeping_direction=self.DOWN,
)
self.assertGreater(len(px), 5)
px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.RIGHT,
sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.UP,
)
self.assertTrue(len(px) >= 5)
px, py = grid_based_sweep_coverage_path_planner.planning(
ox, oy, resolution,
moving_direction=self.RIGHT,
sweeping_direction=self.UP,
)
self.assertGreater(len(px), 5)
px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.RIGHT,
sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.DOWN,
)
self.assertTrue(len(px) >= 5)
px, py = grid_based_sweep_coverage_path_planner.planning(
ox, oy, resolution,
moving_direction=self.RIGHT,
sweeping_direction=self.UP,
)
self.assertGreater(len(px), 5)
def test_planning2(self):
ox = [0.0, 50.0, 50.0, 0.0, 0.0]
oy = [0.0, 0.0, 30.0, 30.0, 0.0]
reso = 1.3
resolution = 1.3
px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.RIGHT,
sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.DOWN,
)
self.assertTrue(len(px) >= 5)
px, py = grid_based_sweep_coverage_path_planner.planning(
ox, oy, resolution,
moving_direction=self.RIGHT,
sweeping_direction=self.DOWN,
)
self.assertGreater(len(px), 5)
px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.LEFT,
sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.DOWN,
)
self.assertTrue(len(px) >= 5)
px, py = grid_based_sweep_coverage_path_planner.planning(
ox, oy, resolution,
moving_direction=self.LEFT,
sweeping_direction=self.DOWN,
)
self.assertGreater(len(px), 5)
px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.RIGHT,
sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.UP,
)
self.assertTrue(len(px) >= 5)
px, py = grid_based_sweep_coverage_path_planner.planning(
ox, oy, resolution,
moving_direction=self.RIGHT,
sweeping_direction=self.UP,
)
self.assertGreater(len(px), 5)
px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.RIGHT,
sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.DOWN,
)
self.assertTrue(len(px) >= 5)
px, py = grid_based_sweep_coverage_path_planner.planning(
ox, oy, resolution,
moving_direction=self.RIGHT,
sweeping_direction=self.DOWN,
)
self.assertGreater(len(px), 5)
def test_planning3(self):
ox = [0.0, 20.0, 50.0, 200.0, 130.0, 40.0, 0.0]
oy = [0.0, -80.0, 0.0, 30.0, 60.0, 80.0, 0.0]
reso = 5.1
px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.RIGHT,
sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.DOWN,
)
self.assertTrue(len(px) >= 5)
resolution = 5.1
px, py = grid_based_sweep_coverage_path_planner.planning(
ox, oy, resolution,
moving_direction=self.RIGHT,
sweeping_direction=self.DOWN,
)
self.assertGreater(len(px), 5)
px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.LEFT,
sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.DOWN,
)
self.assertTrue(len(px) >= 5)
px, py = grid_based_sweep_coverage_path_planner.planning(
ox, oy, resolution,
moving_direction=self.LEFT,
sweeping_direction=self.DOWN,
)
self.assertGreater(len(px), 5)
px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.RIGHT,
sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.UP,
)
self.assertTrue(len(px) >= 5)
px, py = grid_based_sweep_coverage_path_planner.planning(
ox, oy, resolution,
moving_direction=self.RIGHT,
sweeping_direction=self.UP,
)
self.assertGreater(len(px), 5)
px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.RIGHT,
sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.DOWN,
)
self.assertTrue(len(px) >= 5)
px, py = grid_based_sweep_coverage_path_planner.planning(
ox, oy, resolution,
moving_direction=self.RIGHT,
sweeping_direction=self.DOWN,
)
self.assertGreater(len(px), 5)