def test_poop_back_left(self):
self.assertItemsAlmostEqual(
calc_work_x_y_yaw(20, 20, 10, 24),
(10.742781352708207, 23.702887458916717, 2.7610862764774282))
def test_poop_front_left(self):
self.assertItemsAlmostEqual(
calc_work_x_y_yaw(20, 20, 23, 23),
(22.434314575050763, 22.434314575050763, 0.78539816339744828))
def test_poop_back_right(self):
self.assertItemsAlmostEqual(
calc_work_x_y_yaw(20, 20, 3, 10),
(3.6895473721262158, 10.405616101250715, -2.6098685863309878))
def test_only_spin(self):
self.assertItemsAlmostEqual(calc_work_x_y_yaw(10, 10, 10, 10.8),
(10, 10, pi / 2))
def test_poop_front_right(self):
self.assertItemsAlmostEqual(
calc_work_x_y_yaw(20, 20, 22, 15),
(21.702887458916717, 15.742781352708207, -1.1902899496825317))
def test_no_move(self):
self.assertItemsAlmostEqual(calc_work_x_y_yaw(10, 10, 10.8, 10),
(10, 10, 0))
def test_poop_right(self):
self.assertItemsAlmostEqual(calc_work_x_y_yaw(10, 10, 10, -11),
(10, -10.2, -pi / 2))
def test_poop_left(self):
self.assertItemsAlmostEqual(calc_work_x_y_yaw(10, 10, 10, 20),
(10, 19.2, pi / 2))
def test_poop_behind(self):
self.assertItemsAlmostEqual(calc_work_x_y_yaw(10, 10, 5, 10),
(5.8, 10.0, pi))
def test_poop_ahead(self):
self.assertItemsAlmostEqual(calc_work_x_y_yaw(10, 10, 15, 10),
(14.2, 10.0, 0.0))