def test_init_default(self) -> None:
p1 = k2d.Pose(k2d.Vector(24.42, 42.24), 1.221)
assert (p1.position.x == 24.42 and p1.position.y == 42.24
and p1.orientation == 1.221)
p2 = k2d.Pose(k2d.Vector(24, 42), 1)
assert p2.position.x == 24 and p2.position.y == 42 and p2.orientation == 1
def test_truediv(self) -> None:
v1 = k2d.Vector(24, 42)
v2 = k2d.Vector(8, 14)
assert (v1 / 3).is_close_to(v2)
v1 /= 3
assert v1.is_close_to(v2)
def test_mul(self) -> None:
v1 = k2d.Vector(8, 14)
v2 = k2d.Vector(24, 42)
assert (v1 * 3).is_close_to(v2)
v1 *= 3
assert v1.is_close_to(v2)
def test_add(self) -> None:
p1 = k2d.Pose(k2d.Vector(2.2, 3.3), k2d.PI / 2)
p2 = k2d.Pose(k2d.Vector(3.3, 2.2), k2d.PI)
p3 = k2d.Pose(k2d.Vector(0.0, 6.6), k2d.PI * 3 / 2)
assert (p1 + p2).is_at(p3)
p1 += p2
assert (p1).is_at(p3)
def test_sub(self) -> None:
p1 = k2d.Pose(k2d.Vector(2.2, 3.3), k2d.PI)
p2 = k2d.Pose(k2d.Vector(2.2, 3.3), k2d.PI)
p3 = k2d.Pose(k2d.Vector(0.0, 0.0), 0.0)
assert (p1 - p2).is_at(p3)
p1 -= p2
assert (p1).is_at(p3)
def test_angle_from(self) -> None:
v1 = k2d.Vector(-2.0, -2.0)
v2 = k2d.Vector(0.0, 2.0)
assert k2d.is_close(v2.angle_from(v1), k2d.PI * 6 / 8, 1e-3)
v3 = k2d.Vector.zeros()
v4 = k2d.Vector.zeros()
assert k2d.is_close(v3.angle_from(v4), -0.0, 1e-3)
def test_sub(self) -> None:
v1 = k2d.Vector(2.2, 1.1)
v2 = k2d.Vector(1.1, 2.2)
v3 = k2d.Vector(1.1, -1.1)
assert (v1 - v2).is_close_to(v3)
v1 -= v2
assert v1.is_close_to(v3)
def test_add(self) -> None:
v1 = k2d.Vector(2.2, 1.1)
v2 = k2d.Vector(1.1, 2.2)
v3 = k2d.Vector(3.3, 3.3)
assert (v1 + v2).is_close_to(v3)
v1 += v2
assert v1.is_close_to(v3)
def test_angle(self) -> None:
v1 = k2d.Vector(2.0, 0.0)
assert k2d.is_close(v1.angle, 0.0, 1e-3)
v2 = k2d.Vector(0.0, 2.0)
assert k2d.is_close(v2.angle, k2d.PI / 2, 1e-3)
v3 = k2d.Vector(-2.0, -2.0)
assert k2d.is_close(v3.angle, -k2d.PI * 6 / 8, 1e-3)
v4 = k2d.Vector.zeros()
assert k2d.is_close(v4.angle, 0.0, 1e-3)
def test_is_close_to(self) -> None:
v1 = k2d.Vector(1.0, 1.0)
v2 = k2d.Vector(1.0 + k2d.EPSILON / 2, 1.0 - k2d.EPSILON / 2)
assert v1.is_close_to(v2)
v3 = k2d.Vector(1.09, 0.91)
assert v1.is_close_to(v3, epsilon=0.1)
v4 = k2d.Vector(1.0 + k2d.EPSILON * 2, 1.0 - k2d.EPSILON * 2)
assert not v1.is_close_to(v4)
v5 = k2d.Vector(1.2, 0.8)
assert not v1.is_close_to(v5, epsilon=0.1)
def test_is_at_position(self) -> None:
p = k2d.Pose(k2d.Vector(2.2, 3.3), 1.1)
v1 = k2d.Vector(2.2 + k2d.EPSILON / 2, 3.3 - +k2d.EPSILON / 2)
assert p.is_at_position(v1)
v2 = k2d.Vector(2.22, 3.33)
assert p.is_at_position(v2, tolerance=0.1)
v3 = k2d.Vector(2.3, 3.2)
assert not p.is_at_position(v3)
v4 = k2d.Vector(2.4, 3.1)
assert not p.is_at_position(v4, tolerance=0.1)
def test_is_at(self) -> None:
p1 = k2d.Pose(k2d.Vector(2.2, 3.3), 1.1)
p2 = k2d.Pose(
k2d.Vector(2.2 + k2d.EPSILON / 2, 3.3 - +k2d.EPSILON / 2),
1.1 + k2d.EPSILON / 2,
)
assert p1.is_at(p2)
p3 = k2d.Pose(k2d.Vector(2.22, 3.33), 1.2)
assert p1.is_at(p3, pos_tolerance=0.1, ort_tolerance=0.1)
p4 = k2d.Pose(k2d.Vector(2.3, 3.2), 1.2)
assert not p1.is_at(p4)
p5 = k2d.Pose(k2d.Vector(2.4, 3.1), 1.3)
assert not p1.is_at(p5, pos_tolerance=0.1, ort_tolerance=0.1)
def test_setters(self) -> None:
p = k2d.Pose(k2d.Vector(24, 42), 1.2)
p.position.x = 12
p.position.y = 21
p.orientation = 0.6
assert p.position.x == 12
assert p.position.y == 21
assert p.orientation == 0.6
def test_init_default(self) -> None:
v1 = k2d.Vector(24.42, 42.24)
assert v1.x == 24.42 and v1.y == 42.24
v2 = k2d.Vector(24, 42)
assert v2.x == 24.0 and v2.y == 42.0
def test_dot(self) -> None:
v1 = k2d.Vector(2.0, 3.0)
v2 = k2d.Vector(3.0, 2.0)
assert k2d.is_close(v1.dot(v2), 12.0)
def test_repr(self) -> None:
p = k2d.Pose(k2d.Vector(24.42, 42.24), 1.221)
p_repr = "Pose(pos: {}, ort: 1.221)".format(str(p.position))
assert str(p) == p_repr
def test_init_from_copy(self) -> None:
v1 = k2d.Vector(24, 42)
v2 = k2d.Vector.from_copy(v1)
assert v2.x == 24 and v2.y == 42
def test_setters(self) -> None:
v = k2d.Vector(24, 42)
v.x = 12
v.y = 21
assert v.x == 12
assert v.y == 21
def test_repr(self) -> None:
v = k2d.Vector(24.42, 42.24)
v_repr = "Vector(x: 24.42, y: 42.24)"
assert str(v) == v_repr
def test_getters(self) -> None:
v = k2d.Vector(24, 42)
assert v.x == 24
assert v.y == 42
def test_projected_to(self) -> None:
v1 = k2d.Vector(24.42, 42.24)
v2 = k2d.Vector(1.0, 0.0)
v3 = k2d.Vector(24.42, 0.0)
assert v1.projected_to(v2).is_close_to(v3)
def test_is_at_orientation(self) -> None:
p = k2d.Pose(k2d.Vector(2.2, 3.3), 1.1)
assert p.is_at_orientation(1.1 + k2d.EPSILON / 2)
assert p.is_at_orientation(1.2, tolerance=0.1)
assert not p.is_at_orientation(1.2)
assert not p.is_at_orientation(1.3, tolerance=0.1)
def test_abs(self) -> None:
v = k2d.Vector(3.33, 4.44)
assert k2d.is_close(abs(v), 5.55)
def test_ne(self) -> None:
v1 = k2d.Vector(24.24, 42.24)
v2 = k2d.Vector(24.42, 42.42)
assert v1 != v2
def test_eq(self) -> None:
v1 = k2d.Vector(24.24, 42.42)
v2 = k2d.Vector(24.24, 42.42)
assert v1 == v2
def test_rotated(self) -> None:
v1 = k2d.Vector(2.0, 2.0)
v2 = k2d.Vector(-2.0, -2.0)
assert v1.rotated(k2d.PI).is_close_to(v2)
def test_neg(self) -> None:
v = k2d.Vector(24.42, -42.24)
v_neg = k2d.Vector(-24.42, 42.24)
assert -v == v_neg
def test_normalized(self) -> None:
v1 = k2d.Vector(3.33, 4.44)
v2 = k2d.Vector(0.6, 0.8)
assert v1.normalized().is_close_to(v2)
def test_hash(self) -> None:
v = k2d.Vector(24.42, 42.24)
assert hash(v) == hash((24.42, 42.24))
def test_getters(self) -> None:
p = k2d.Pose(k2d.Vector(24, 42), 1.2)
assert p.position.x == 24
assert p.position.y == 42
assert p.orientation == 1.2
