class TestUnitaire_Sommet(unittest.TestCase):
localisationTresor = LocalisationTresor()
orientationCamera = 90
orientationRobot = 90
centreX = 0
angleTresor = 180
x1 = 10
y1 = 10
pointDeCroisement = (20, 20)
positionXRobot = 0
positionYRobot = 0
origine1 = (20, 0)
fin1 = (20, 40)
origine2 = (10, 0)
fin2 = (10, 40)
origine3 = (10, 20)
fin3 = (30, 20)
def setUp(self):
self.localisationTresor = LocalisationTresor()
self.orientationCamera = 90
self.orientationRobot = 90
self.centreX = 0
self.angleTresor = 180
self.x1 = 10
self.y1 = 10
self.pointDeCroisement = (20, 20)
self.positionXRobot = 0
self.positionYRobot = 0
self.origine1 = (20, 0)
self.fin1 = (20, 40)
self.origine2 = (10, 0)
self.fin2 = (10, 40)
self.origine3 = (10, 20)
self.fin3 = (30, 20)
def tearDown(self):
pass
def test_recupererAngleTresorRetourneLeBonAngle(self):
angle = self.localisationTresor.recupererAngleTresor(
self.orientationCamera, self.orientationRobot, self.centreX
)
self.assertEqual(angle, 112.5)
def test_recupererPositionXTresorAvecAngleRetourneLaBonnePosition(self):
positionX = self.localisationTresor.recupererPositionXTresorAvecAngle(self.angleTresor, self.x1)
self.assertEqual(positionX, -2490.0)
def test_recupererPositionYTresorAvecAngleRetourneLaBonnePosition(self):
positionY = self.localisationTresor.recupererPositionYTresorAvecAngle(self.angleTresor, self.y1)
self.assertEqual(int(round(positionY)), 10.0)
def test_calculerDistanceEntreRobotEtTresorRetourneLaBonneDistance(self):
distance = self.localisationTresor.calculerDistanceEntreRobotEtTresor(
self.pointDeCroisement, self.positionXRobot, self.positionYRobot
)
self.assertEqual(distance, sqrt(800.0))
def test_trouverCroisementEntreDeuxSegmentsParallelesRetourneFalseEtLePointOrigine(self):
sontCroisees = self.localisationTresor.trouverCroisement(self.origine1, self.fin1, self.origine2, self.fin2)
self.assertEqual(sontCroisees, (False, (0, 0)))
def test_trouverCroisementEntreDeuxSegmentsNonParallelesRetourneTrueEtLePointDeCroisement(self):
sontCroisees = self.localisationTresor.trouverCroisement(self.origine1, self.fin1, self.origine3, self.fin3)
self.assertEqual(sontCroisees, (True, (20, 20)))
