def test_realistic_road(self):
# Test Case 2 (more realistic road)
road = build_road(14, [80, 60, 40, 20])
lane_change_cost = 1.0 / 100.0
init = [len(road) - 1, 0]
goal = [len(road) - 1, len(road[0]) - 1]
cost = 0.293333333333
self.assertAlmostEqual(cost, plan(road=road,
lane_change_cost=lane_change_cost,
goal=goal,
init=init), 10)
def test_fast_left_lane(self):
# Test Case 1 (FAST left lane)
road = build_road(8, [100, 10, 1])
lane_change_cost = 1.0 / 1000.0
init = [len(road) - 1, 0]
goal = [len(road) - 1, len(road[0]) - 1]
cost = 1.244
self.assertAlmostEqual(cost, plan(road=road,
lane_change_cost=lane_change_cost,
goal=goal,
init=init), 3)
def test_realistic_road(self):
# Test Case 2 (more realistic road)
road = build_road(14, [80, 60, 40, 20])
lane_change_cost = 1.0 / 100.0
init = [len(road) - 1, 0]
goal = [len(road) - 1, len(road[0]) - 1]
cost = 0.293333333333
self.assertAlmostEqual(
cost,
plan(road=road,
lane_change_cost=lane_change_cost,
goal=goal,
init=init), 10)
def test_fast_left_lane(self):
# Test Case 1 (FAST left lane)
road = build_road(8, [100, 10, 1])
lane_change_cost = 1.0 / 1000.0
init = [len(road) - 1, 0]
goal = [len(road) - 1, len(road[0]) - 1]
cost = 1.244
self.assertAlmostEqual(
cost,
plan(road=road,
lane_change_cost=lane_change_cost,
goal=goal,
init=init), 3)