def test_dir_to_disp_dynamic(self):
dr = z3.Const('dir', Dir)
SOL.add(dr == Dir.u)
disp = dir_to_disp(dr)
m = SOL.model()
self.assertEqual(0, SOL.eval(disp[0]))
self.assertEqual(1, SOL.eval(disp[1]))
def test_seg_contains(self):
sb = SegmentedBelt()
SOL.add(sb.num_segs >= 2)
SOL.add(sb.segment(0).contains(Point2D(5, 2)))
SOL.add(sb.segment(1).contains(Point2D(10, 5)))
SOL.add(sb.segment(0).horizontal())
SOL.model()
c1 = SOL.eval(sb.corner(1))
self.assertEqual(c1, Point2D(10,2))