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)