mirror of
https://github.com/AtsushiSakai/PythonRobotics.git
synced 2026-01-14 18:28:14 -05:00
38 lines
813 B
Python
38 lines
813 B
Python
import os
|
|
import sys
|
|
from unittest import TestCase
|
|
|
|
sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
|
|
"/../PathPlanning/RRTStar/")
|
|
|
|
try:
|
|
import rrt_star as m
|
|
except ImportError:
|
|
raise
|
|
|
|
|
|
print(__file__)
|
|
|
|
|
|
class Test(TestCase):
|
|
|
|
def test1(self):
|
|
m.show_animation = False
|
|
m.main()
|
|
|
|
def test_no_obstacle(self):
|
|
obstacle_list = []
|
|
|
|
# Set Initial parameters
|
|
rrt_star = m.RRTStar(start=[0, 0],
|
|
goal=[6, 10],
|
|
rand_area=[-2, 15],
|
|
obstacle_list=obstacle_list)
|
|
path = rrt_star.planning(animation=False)
|
|
assert path is not None
|
|
|
|
if __name__ == '__main__': # pragma: no cover
|
|
test = Test()
|
|
test.test1()
|
|
test.test_no_obstacle()
|