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https://github.com/AtsushiSakai/PythonRobotics.git
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0c23ebe62b
* First commit of Spiral Spanning Tree Coverage * Modify followed by first code review * fix pycodestyle error * modifies following 2nd code review
59 lines
1.8 KiB
Python
59 lines
1.8 KiB
Python
import os
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import sys
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import matplotlib.pyplot as plt
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from unittest import TestCase
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sys.path.append(os.path.dirname(
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os.path.abspath(__file__)) + "/../PathPlanning/SpiralSpanningTreeCPP")
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try:
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import spiral_spanning_tree_coverage_path_planner
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except ImportError:
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raise
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spiral_spanning_tree_coverage_path_planner.do_animation = True
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class TestPlanning(TestCase):
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def spiral_stc_cpp(self, img, start):
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num_free = 0
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for i in range(img.shape[0]):
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for j in range(img.shape[1]):
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num_free += img[i][j]
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STC_planner = spiral_spanning_tree_coverage_path_planner.\
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SpiralSpanningTreeCoveragePlanner(img)
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edge, route, path = STC_planner.plan(start)
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covered_nodes = set()
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for p, q in edge:
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covered_nodes.add(p)
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covered_nodes.add(q)
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# assert complete coverage
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self.assertEqual(len(covered_nodes), num_free / 4)
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def test_spiral_stc_cpp_1(self):
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img_dir = os.path.dirname(
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os.path.abspath(__file__)) + \
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"/../PathPlanning/SpiralSpanningTreeCPP"
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img = plt.imread(os.path.join(img_dir, 'map', 'test.png'))
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start = (0, 0)
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self.spiral_stc_cpp(img, start)
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def test_spiral_stc_cpp_2(self):
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img_dir = os.path.dirname(
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os.path.abspath(__file__)) + \
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"/../PathPlanning/SpiralSpanningTreeCPP"
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img = plt.imread(os.path.join(img_dir, 'map', 'test_2.png'))
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start = (10, 0)
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self.spiral_stc_cpp(img, start)
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def test_spiral_stc_cpp_3(self):
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img_dir = os.path.dirname(
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os.path.abspath(__file__)) + \
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"/../PathPlanning/SpiralSpanningTreeCPP"
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img = plt.imread(os.path.join(img_dir, 'map', 'test_3.png'))
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start = (0, 0)
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self.spiral_stc_cpp(img, start)
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