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125 lines
3.9 KiB
Python
125 lines
3.9 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(
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os.path.abspath(__file__)) + "/../PathPlanning/GridBasedSweepCPP")
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sys.path.append(
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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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grid_based_sweep_coverage_path_planner.do_animation = False
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class TestPlanning(TestCase):
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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(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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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=self.RIGHT,
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sweeping_direction=self.DOWN,
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)
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self.assertGreater(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=self.LEFT,
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sweeping_direction=self.DOWN,
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)
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self.assertGreater(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=self.RIGHT,
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sweeping_direction=self.UP,
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)
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self.assertGreater(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=self.RIGHT,
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sweeping_direction=self.UP,
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)
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self.assertGreater(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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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=self.RIGHT,
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sweeping_direction=self.DOWN,
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)
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self.assertGreater(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=self.LEFT,
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sweeping_direction=self.DOWN,
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)
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self.assertGreater(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=self.RIGHT,
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sweeping_direction=self.UP,
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)
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self.assertGreater(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=self.RIGHT,
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sweeping_direction=self.DOWN,
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)
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self.assertGreater(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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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=self.RIGHT,
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sweeping_direction=self.DOWN,
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)
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self.assertGreater(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=self.LEFT,
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sweeping_direction=self.DOWN,
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)
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self.assertGreater(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=self.RIGHT,
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sweeping_direction=self.UP,
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)
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self.assertGreater(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=self.RIGHT,
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sweeping_direction=self.DOWN,
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)
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self.assertGreater(len(px), 5)
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