def test_splitted_children(self):
node = OccupancyOctoNode()
node._split()
self.assertEqual( node.probability, node.probability_at( ( 0, 0, 0 ), ( 0, 0, 0 ), 2 ) )
self.assertEqual( node.probability, node.probability_at( ( 1, 0, 0 ), ( 0, 0, 0 ), 2 ) )
self.assertEqual( node.probability, node.probability_at( ( 0, 1, 0 ), ( 0, 0, 0 ), 2 ) )
self.assertEqual( node.probability, node.probability_at( ( 0, 0, 1 ), ( 0, 0, 0 ), 2 ) )
self.assertEqual( node.probability, node.probability_at( ( 1, 1, 0 ), ( 0, 0, 0 ), 2 ) )
self.assertEqual( node.probability, node.probability_at( ( 0, 1, 1 ), ( 0, 0, 0 ), 2 ) )
self.assertEqual( node.probability, node.probability_at( ( 1, 0, 1 ), ( 0, 0, 0 ), 2 ) )
self.assertEqual( node.probability, node.probability_at( ( 1, 1, 1 ), ( 0, 0, 0 ), 2 ) )
def test_unsplitted_node(self):
node = OccupancyOctoNode()
self.assertTrue( node.is_leaf() )
node._split()
self.assertFalse( node.is_leaf() )
