def test_point_collision(self):
self.assertTrue(
self.obs._collision_point(pos.Pos(np.array([2, 0, 0]))),
"testing point collision")
self.assertFalse(
self.obs._collision_point(pos.Pos(np.array([1, 0, 0]))),
"testing point collision")
def direction(self):
"""
unit vector of direction
:return: Position
"""
len = self.length()
if len == 0.0:
uvec = pos.Pos(np.transpose(np.array([0, 0, 0])))
else:
uvec = pos.Pos(np.transpose(np.array([(self.end.x - self.start.x) / len,
(self.end.y - self.start.y) / len,
(self.end.z - self.start.z) / len])))
return uvec
def test_scalarprod(self):
self.assertEqual(self.scalarprod, pos.Pos(np.array([3, 6, 9])),
"scalar product test")
self.assertEqual(self.scalarprod, 3 * self.point,
"scalar product test")
def test_diff(self):
self.assertEqual(self.diff, pos.Pos(np.array([3, 3, 3])),
"difference test")
def test_sum(self):
self.assertEqual(self.sum, pos.Pos(np.array([5, 7, 9])), "sum test")
def test_eq(self):
self.assertEqual(self.point, pos.Pos(np.array([1, 2, 3])),
"equality test")
def setUp(self):
self.point = pos.Pos(np.array([1, 2, 3, 4]))
self.otherpt = pos.Pos(np.array([4, 5, 6, 7]))
self.sum = self.point + self.otherpt
self.diff = self.otherpt - self.point
self.scalarprod = self.point * 3
def test_pos(self):
self.assertEqual(self.obs.position, pos.Pos(np.array([1, 2, 3])), "testing position of obstacle")
def setUp(self):
self.obs = DummyObs(pos.Pos(np.array([1, 2, 3])), np.array([1]))
self.pos = pos.Pos(np.array([4, 5, 6]))
self.seg = seg.Seg(pos.Pos(np.array([1, 1, 1])), pos.Pos(np.array([2, 2, 3])))
def test_direction(self):
self.assertEqual(self.seg1.direction(), pos.Pos(np.array([0, 1, 0])),
"unit vector test")
self.assertEqual(self.seg2.direction(), pos.Pos(np.array([0, 1, 0])),
"unit vector test")
def test_end(self):
self.assertEqual(self.seg1.end, pos.Pos(np.array([1, 1, 0])),
"end point access test")
def test_start(self):
self.assertEqual(self.seg1.start, pos.Pos(np.array([1, 0, 0])),
"starting point access test")
def setUp(self):
self.seg1 = seg.Seg(pos.Pos(np.array([1, 0, 0])),
pos.Pos(np.array([1, 1, 0])))
self.seg2 = seg.Seg(pos.Pos(np.array([1, 0, 1])),
pos.Pos(np.array([1, 1, 1])))
def test_collision(self):
self.assertTrue(self.obs.collision_check(self.nc_path),
"testing collision")
self.assertFalse(
self.obs.collision_check(pos.Pos(np.array([1, 0, 0]))),
"testing collision")
def setUp(self):
self.obs = obs.RoundObs(pos.Pos(np.array([0, 0, 0])), 1.0)
self.nc_path = seg.Seg(pos.Pos(np.array([2, 0, 0])),
pos.Pos(np.array([2, 2, 0])))
self.c_path = seg.Seg(pos.Pos(np.array([-1, 0, 0])),
pos.Pos(np.array([1, 0, 0])))
def setUp(self):
self.obs = obs.CylObs(pos.Pos(np.array([0, 0, 0])), 1.0)
self.nc_path = seg.Seg(pos.Pos(np.array([2, 0, 0])), pos.Pos(np.array([2, 2, 0])))
p1 = pos.Pos(np.array([-1.03, -0.1566, 1.10]))
p2 = pos.Pos(np.array([1.094, 0.29, 1.22]))
self.c_path = seg.Seg(p1, p2)
