mirror of
https://github.com/AtsushiSakai/PythonRobotics.git
synced 2026-01-14 11:37:56 -05:00
f40b750cca
* fix bugs in check a position inside the polygon It is possible that the position `(iox, ioy)` to be checked with `iox == min_x`. This will cause a incorrect inside check. * add a boundary condition for gridmap
29 lines
889 B
Python
29 lines
889 B
Python
from Mapping.grid_map_lib.grid_map_lib import GridMap
|
|
import numpy as np
|
|
|
|
|
|
def test_position_set():
|
|
grid_map = GridMap(100, 120, 0.5, 10.0, -0.5)
|
|
|
|
grid_map.set_value_from_xy_pos(10.1, -1.1, 1.0)
|
|
grid_map.set_value_from_xy_pos(10.1, -0.1, 1.0)
|
|
grid_map.set_value_from_xy_pos(10.1, 1.1, 1.0)
|
|
grid_map.set_value_from_xy_pos(11.1, 0.1, 1.0)
|
|
grid_map.set_value_from_xy_pos(10.1, 0.1, 1.0)
|
|
grid_map.set_value_from_xy_pos(9.1, 0.1, 1.0)
|
|
|
|
|
|
def test_polygon_set():
|
|
ox = [0.0, 4.35, 20.0, 50.0, 100.0, 130.0, 40.0]
|
|
oy = [0.0, -4.15, -20.0, 0.0, 30.0, 60.0, 80.0]
|
|
|
|
grid_map = GridMap(600, 290, 0.7, 60.0, 30.5)
|
|
|
|
grid_map.set_value_from_polygon(ox, oy, 1.0, inside=False)
|
|
grid_map.set_value_from_polygon(np.array(ox), np.array(oy),
|
|
1.0, inside=False)
|
|
|
|
|
|
if __name__ == '__main__':
|
|
conftest.run_this_test(__file__)
|