mirror of
https://github.com/AtsushiSakai/PythonRobotics.git
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2c3896879b
* code clean up * code clean up * code clean up * code clean up * fix length handling issues
58 lines
1.7 KiB
Python
58 lines
1.7 KiB
Python
import numpy as np
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import conftest # Add root path to sys.path
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from PathPlanning.ReedsSheppPath import reeds_shepp_path_planning as m
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def check_edge_condition(px, py, pyaw, start_x, start_y, start_yaw, end_x,
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end_y, end_yaw):
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assert (abs(px[0] - start_x) <= 0.01)
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assert (abs(py[0] - start_y) <= 0.01)
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assert (abs(pyaw[0] - start_yaw) <= 0.01)
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assert (abs(px[-1] - end_x) <= 0.01)
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assert (abs(py[-1] - end_y) <= 0.01)
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assert (abs(pyaw[-1] - end_yaw) <= 0.01)
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def check_path_length(px, py, lengths):
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sum_len = sum(abs(length) for length in lengths)
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dpx = np.diff(px)
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dpy = np.diff(py)
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actual_len = sum(
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np.hypot(dx, dy) for (dx, dy) in zip(dpx, dpy))
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diff_len = sum_len - actual_len
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assert (diff_len <= 0.01)
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def test1():
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m.show_animation = False
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m.main()
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def test2():
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N_TEST = 10
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np.random.seed(1234)
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for i in range(N_TEST):
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start_x = (np.random.rand() - 0.5) * 10.0 # [m]
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start_y = (np.random.rand() - 0.5) * 10.0 # [m]
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start_yaw = np.deg2rad((np.random.rand() - 0.5) * 180.0) # [rad]
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end_x = (np.random.rand() - 0.5) * 10.0 # [m]
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end_y = (np.random.rand() - 0.5) * 10.0 # [m]
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end_yaw = np.deg2rad((np.random.rand() - 0.5) * 180.0) # [rad]
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curvature = 1.0 / (np.random.rand() * 5.0)
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px, py, pyaw, mode, lengths = m.reeds_shepp_path_planning(
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start_x, start_y, start_yaw,
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end_x, end_y, end_yaw, curvature)
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check_edge_condition(px, py, pyaw, start_x, start_y, start_yaw, end_x,
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end_y, end_yaw)
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check_path_length(px, py, lengths)
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if __name__ == '__main__':
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conftest.run_this_test(__file__)
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