class TestGridDB(unittest.TestCase):
def __init__(self, methodName='runTest'):
super(TestGridDB, self).__init__(methodName)
self.g1 = DynamicBoundGrid(4, 4)
self.g1.set_search((0, 0), (3, 3))
self.g2 = DynamicBoundGridWithShortcuts(4, 4)
self.g2.set_search((0, 0), (3, 3))
def test_case1(self):
self.assertSetEqual(set(self.g1.neighbors((0, 0))),
set([(1, 0), (0, 1), (1, 1)]))
def test_case2(self):
self.assertSetEqual(set(self.g2.neighbors((0, 0))),
set([(1, 0), (0, 1), (1, 1)]))
class TestAstar(unittest.TestCase):
def __init__(self, methodName='runTest'):
super(TestAstar, self).__init__(methodName)
self.g1 = GridWithWeights(4, 4)
self.g2 = EightDirectionGrid(4, 4)
self.g3 = DynamicBoundGrid(4, 4)
self.g4 = DynamicBoundGridWithShortcuts(4, 4)
self.g5 = DenseGraph(self.g4)
self.g6 = DualityGraph(4, 4)
def test_case1(self):
start = (0, 0)
goal = (3, 3)
came_from, cost_so_far = a_star_search(self.g1, start, goal)
path = reconstruct_path(came_from, start, goal)
answer = [(0, 0), (0, 1), (1, 1), (1, 2), (2, 2), (2, 3), (3, 3)]
self.assertEqual(path, answer)
def test_case2(self):
start = (0, 0)
goal = (3, 3)
came_from, cost_so_far = a_star_search(self.g2, start, goal)
path = reconstruct_path(came_from, start, goal)
answer = [(0, 0), (1, 1), (2, 2), (3, 3)]
self.assertEqual(path, answer)
def test_case3(self):
start = (0, 0)
goal = (3, 3)
self.g3.set_search(start, goal)
came_from, cost_so_far = a_star_search(self.g3, start, goal)
path = reconstruct_path(came_from, start, goal)
answer = [(0, 0), (1, 1), (2, 2), (3, 3)]
self.assertEqual(path, answer)
def test_case4(self):
start = (0, 0)
goal = (3, 3)
self.g4.set_search(start, goal)
came_from, cost_so_far = a_star_search(self.g4, start, goal)
path = reconstruct_path(came_from, start, goal)
answer = [(0, 0), (1, 1), (2, 2), (3, 3)]
self.assertEqual(path, answer)
def test_case5(self):
start = (0, 0)
goal = (3, 3)
self.g5.set_search(start, goal)
came_from, cost_so_far = a_star_search(self.g5, start, goal)
path = reconstruct_path(came_from, start, goal)
answer = [(0, 0), (1, 1), (2, 2), (3, 3)]
self.assertEqual(path, answer)
def test_case6(self):
start = (0, 0)
goal = (3, 3)
self.g6.set_search(start, goal)
came_from, cost_so_far = a_star_search(self.g6, start, goal)
path = reconstruct_path(came_from, start, goal)
answer = [(0, 0), (3, 3)]
self.assertEqual(path, answer)
# start1, goal1 = (00, 500), (100, 5100)
# start2, goal2 = (10, 500), (100, 5200)
# start3, goal3 = (20, 500), (100, 5300)
start1, goal1 = (500, 500), (600, 5100)
start2, goal2 = (510, 500), (600, 5200)
start3, goal3 = (520, 500), (600, 5300)
plt.figure()
plt.scatter([pos[0] for pos in grid2.walls],
[pos[1] for pos in grid2.walls],
color='black')
t0 = time.time()
print('1')
grid1.set_search(start1, goal1)
t1 = time.time()
came_from, cost_so_far = a_star_search(grid1, start1, goal1, p=p)
ts1 = time.time() - t1
path = reconstruct_path(came_from, start1, goal1)
path1 = reduce_path(path)
for i in range(1, len(path1)):
grid1.walls |= solid_octagon_line(path1[i - 1], path1[i], 5)
print('2')
grid1.set_search(start2, goal2)
t1 = time.time()
came_from, cost_so_far = a_star_search(grid1, start2, goal2, p=p)
ts2 = time.time() - t1