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99 lines
6.7 KiB
Python
99 lines
6.7 KiB
Python
import os
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import sys
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from unittest import TestCase
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sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../PathPlanning/GridBasedSweepCPP")
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sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../Mapping/grid_map_lib")
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try:
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import grid_based_sweep_coverage_path_planner
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except ImportError:
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raise
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class TestPlanning(TestCase):
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def test_planning1(self):
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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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reso = 5.0
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px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
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moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.RIGHT,
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sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.DOWN,
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)
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self.assertTrue(len(px) >= 5)
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px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
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moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.LEFT,
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sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.DOWN,
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)
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self.assertTrue(len(px) >= 5)
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px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
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moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.RIGHT,
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sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.UP,
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)
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self.assertTrue(len(px) >= 5)
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px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
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moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.RIGHT,
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sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.DOWN,
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)
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self.assertTrue(len(px) >= 5)
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def test_planning2(self):
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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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reso = 1.3
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px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
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moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.RIGHT,
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sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.DOWN,
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)
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self.assertTrue(len(px) >= 5)
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px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
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moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.LEFT,
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sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.DOWN,
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)
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self.assertTrue(len(px) >= 5)
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px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
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moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.RIGHT,
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sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.UP,
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)
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self.assertTrue(len(px) >= 5)
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px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
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moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.RIGHT,
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sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.DOWN,
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)
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self.assertTrue(len(px) >= 5)
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def test_planning3(self):
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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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reso = 5.1
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px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
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moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.RIGHT,
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sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.DOWN,
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)
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self.assertTrue(len(px) >= 5)
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px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
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moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.LEFT,
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sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.DOWN,
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)
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self.assertTrue(len(px) >= 5)
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px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
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moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.RIGHT,
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sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.UP,
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)
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self.assertTrue(len(px) >= 5)
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px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
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moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.RIGHT,
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sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.DOWN,
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)
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self.assertTrue(len(px) >= 5)
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