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* Test code clean up * Test code clean up * Test code clean up * Test code clean up * Test code clean up * Test code clean up * Test code clean up * Test code clean up * Test code clean up * Test code clean up * Test code clean up * Test code clean up * Test code clean up * Test code clean up * Test code clean up * Test code clean up * Test code clean up * Test code clean up * Test code clean up * Test code clean up * Test code clean up * Test code clean up * Test code clean up * Test code clean up * Test code clean up
49 lines
1.5 KiB
Python
49 lines
1.5 KiB
Python
import conftest
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import numpy as np
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from PathPlanning.DynamicWindowApproach import dynamic_window_approach as m
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def test_main1():
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m.show_animation = False
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m.main(gx=1.0, gy=1.0)
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def test_main2():
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m.show_animation = False
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m.main(gx=1.0, gy=1.0, robot_type=m.RobotType.rectangle)
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def test_stuck_main():
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m.show_animation = False
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# adjust cost
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m.config.to_goal_cost_gain = 0.2
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m.config.obstacle_cost_gain = 2.0
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# obstacles and goals for stuck condition
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m.config.ob = -1 * np.array([[-1.0, -1.0],
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[0.0, 2.0],
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[2.0, 6.0],
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[2.0, 8.0],
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[3.0, 9.27],
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[3.79, 9.39],
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[7.25, 8.97],
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[7.0, 2.0],
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[3.0, 4.0],
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[6.0, 5.0],
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[3.5, 5.8],
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[6.0, 9.0],
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[8.8, 9.0],
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[5.0, 9.0],
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[7.5, 3.0],
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[9.0, 8.0],
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[5.8, 4.4],
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[12.0, 12.0],
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[3.0, 2.0],
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[13.0, 13.0]
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])
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m.main(gx=-5.0, gy=-7.0)
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if __name__ == '__main__':
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conftest.run_this_test(__file__)
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