def test_distance_calculation(self):
wp = Waypoint(x=0, y=2, z=0)
self.assertEquals(wp.dist([0, 4, 0]), 2,
'Distance calculation is wrong')
self.assertEquals(wp.dist([2, 2, 0]), 2,
'Distance calculation is wrong')
self.assertEquals(wp.dist([0, 2, 2]), 2,
'Distance calculation is wrong')
def test_add_repeated_waypoint(self):
wp = Waypoint(x=1, y=2, z=3, max_forward_speed=1)
wp_set = WaypointSet()
self.assertTrue(wp_set.add_waypoint(wp),
'Error occured while adding waypoint to empty set')
self.assertFalse(wp_set.add_waypoint(wp),
'Repeated waypoint wrongfully added')
def test_to_message(self):
wp0 = Waypoint(x=1, y=2, z=3)
wp1 = Waypoint()
wp1.from_message(wp0.to_message())
self.assertEquals(wp0, wp1, "Waypoint to message conversion failed")
def test_distance_calculation(self):
wp = Waypoint(x=0, y=2, z=0)
self.assertEquals(wp.dist([0, 4, 0]), 2, 'Distance calculation is wrong')
self.assertEquals(wp.dist([2, 2, 0]), 2, 'Distance calculation is wrong')
self.assertEquals(wp.dist([0, 2, 2]), 2, 'Distance calculation is wrong')
def test_violate_constraint_flag(self):
wp = Waypoint()
wp.violates_constraint = True
self.assertTrue(wp.violates_constraint, 'Constraint violation flag not correctly set')
def test_to_message(self):
wp0 = Waypoint(x=1, y=2, z=3)
wp1 = Waypoint()
wp1.from_message(wp0.to_message())
self.assertEquals(wp0, wp1, "Waypoint to message conversion failed")
def test_violate_constraint_flag(self):
wp = Waypoint()
wp.violates_constraint = True
self.assertTrue(wp.violates_constraint,
'Constraint violation flag not correctly set')
def test_unequal_waypoints(self):
wp0 = Waypoint(x=1, y=2, z=3)
wp1 = Waypoint(x=6, y=5, z=4)
self.assertNotEquals(wp0, wp1, 'Waypoints unequal operator failed')
def test_equal_waypoints(self):
wp0 = Waypoint(x=1, y=2, z=3)
wp1 = Waypoint(x=1, y=2, z=3)
self.assertEquals(wp0, wp1, 'Waypoints equal operator failed')