def setUp(self):
obstacleList = [Obstacle((100, 100)), Obstacle((300, 200))]
self.graph = Graph(obstacleList, 90)
self.A_NODE1 = Node((200, 300))
self.A_NODE2 = Node((400, 600))
self.graph.generateSafeZone((0, 100), (0, 0), (100, 0))
def __init__(self, obstaclesList, mapSizeX, mapSizeY):
self.MAP_SIZE_X = mapSizeX
self.MAP_SIZE_Y = mapSizeY
self.graph = Graph(obstaclesList, self.SAFE_MARGIN)
self.collisionDetector = CollisionDetector(self.MAP_SIZE_X, self.MAP_SIZE_Y, self.SAFE_MARGIN, obstaclesList)
self.endNodeGenerator = EndNodeGenerator(self.MAP_SIZE_X, self.MAP_SIZE_Y, self.SAFE_MARGIN, obstaclesList,
self.collisionDetector, self.graph)
self.bottomPathGenerator = BottomPathGenerator(self.SAFE_MARGIN, mapSizeY, self.graph, self.collisionDetector)
self.topPathGenerator = TopPathGenerator(self.SAFE_MARGIN, mapSizeY, self.graph, self.collisionDetector)
self.obstaclesList = obstaclesList
self.obstaclesList.sort(key=lambda obstacle: obstacle.positionX)
