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119 lines
3.1 KiB
Python
119 lines
3.1 KiB
Python
import conftest
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from PathPlanning.GridBasedSweepCPP \
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import grid_based_sweep_coverage_path_planner
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grid_based_sweep_coverage_path_planner.do_animation = False
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RIGHT = grid_based_sweep_coverage_path_planner. \
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SweepSearcher.MovingDirection.RIGHT
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LEFT = grid_based_sweep_coverage_path_planner. \
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SweepSearcher.MovingDirection.LEFT
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UP = grid_based_sweep_coverage_path_planner. \
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SweepSearcher.SweepDirection.UP
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DOWN = grid_based_sweep_coverage_path_planner. \
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SweepSearcher.SweepDirection.DOWN
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def test_planning1():
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ox = [0.0, 20.0, 50.0, 100.0, 130.0, 40.0, 0.0]
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oy = [0.0, -20.0, 0.0, 30.0, 60.0, 80.0, 0.0]
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resolution = 5.0
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px, py = grid_based_sweep_coverage_path_planner.planning(
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ox, oy, resolution,
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moving_direction=RIGHT,
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sweeping_direction=DOWN,
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)
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assert len(px) >= 5
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px, py = grid_based_sweep_coverage_path_planner.planning(
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ox, oy, resolution,
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moving_direction=LEFT,
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sweeping_direction=DOWN,
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)
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assert len(px) >= 5
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px, py = grid_based_sweep_coverage_path_planner.planning(
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ox, oy, resolution,
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moving_direction=RIGHT,
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sweeping_direction=UP,
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)
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assert len(px) >= 5
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px, py = grid_based_sweep_coverage_path_planner.planning(
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ox, oy, resolution,
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moving_direction=RIGHT,
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sweeping_direction=UP,
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)
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assert len(px) >= 5
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def test_planning2():
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ox = [0.0, 50.0, 50.0, 0.0, 0.0]
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oy = [0.0, 0.0, 30.0, 30.0, 0.0]
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resolution = 1.3
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px, py = grid_based_sweep_coverage_path_planner.planning(
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ox, oy, resolution,
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moving_direction=RIGHT,
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sweeping_direction=DOWN,
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)
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assert len(px) >= 5
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px, py = grid_based_sweep_coverage_path_planner.planning(
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ox, oy, resolution,
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moving_direction=LEFT,
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sweeping_direction=DOWN,
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)
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assert len(px) >= 5
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px, py = grid_based_sweep_coverage_path_planner.planning(
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ox, oy, resolution,
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moving_direction=RIGHT,
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sweeping_direction=UP,
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)
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assert len(px) >= 5
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px, py = grid_based_sweep_coverage_path_planner.planning(
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ox, oy, resolution,
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moving_direction=RIGHT,
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sweeping_direction=DOWN,
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)
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assert len(px) >= 5
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def test_planning3():
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ox = [0.0, 20.0, 50.0, 200.0, 130.0, 40.0, 0.0]
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oy = [0.0, -80.0, 0.0, 30.0, 60.0, 80.0, 0.0]
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resolution = 5.1
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px, py = grid_based_sweep_coverage_path_planner.planning(
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ox, oy, resolution,
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moving_direction=RIGHT,
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sweeping_direction=DOWN,
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)
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assert len(px) >= 5
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px, py = grid_based_sweep_coverage_path_planner.planning(
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ox, oy, resolution,
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moving_direction=LEFT,
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sweeping_direction=DOWN,
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)
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assert len(px) >= 5
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px, py = grid_based_sweep_coverage_path_planner.planning(
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ox, oy, resolution,
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moving_direction=RIGHT,
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sweeping_direction=UP,
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)
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assert len(px) >= 5
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px, py = grid_based_sweep_coverage_path_planner.planning(
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ox, oy, resolution,
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moving_direction=RIGHT,
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sweeping_direction=DOWN,
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)
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assert len(px) >= 5
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if __name__ == '__main__':
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conftest.run_this_test(__file__)
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