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60 lines
2.0 KiB
Python
60 lines
2.0 KiB
Python
from unittest import TestCase
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import numpy as np
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from PathPlanning.DubinsPath import dubins_path_planning
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class Test(TestCase):
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@staticmethod
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def check_edge_condition(px, py, pyaw, start_x, start_y, start_yaw, end_x, 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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print("x", px[-1], end_x)
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assert (abs(px[-1] - end_x) <= 0.01)
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print("y", py[-1], end_y)
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assert (abs(py[-1] - end_y) <= 0.01)
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print("yaw", pyaw[-1], end_yaw)
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assert (abs(pyaw[-1] - end_yaw) <= 0.01)
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def test1(self):
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start_x = 1.0 # [m]
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start_y = 1.0 # [m]
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start_yaw = np.deg2rad(45.0) # [rad]
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end_x = -3.0 # [m]
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end_y = -3.0 # [m]
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end_yaw = np.deg2rad(-45.0) # [rad]
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curvature = 1.0
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px, py, pyaw, mode, clen = dubins_path_planning.dubins_path_planning(
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start_x, start_y, start_yaw, end_x, end_y, end_yaw, curvature)
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self.check_edge_condition(px, py, pyaw, start_x, start_y, start_yaw, end_x, end_y, end_yaw)
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def test2(self):
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dubins_path_planning.show_animation = False
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dubins_path_planning.main()
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def test3(self):
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N_TEST = 10
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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, clen = dubins_path_planning.dubins_path_planning(
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start_x, start_y, start_yaw, end_x, end_y, end_yaw, curvature)
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self.check_edge_condition(px, py, pyaw, start_x, start_y, start_yaw, end_x, end_y, end_yaw)
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