def test_coerce_middle_of_edge(self):
"""Tests coercion when the line intersects the middle of an edge."""
box = self.MakeBox(0, 4, 1, 2)
# x1 = x2
K = numpy.matrix([[-1, 1]])
w = 0
assert_array_equal(polydrivetrain.CoerceGoal(box, K, w, numpy.matrix([[5], [5]])),
numpy.matrix([[2.0], [2.0]]))
def test_coerce_perpendicular_line(self):
"""Tests coercion when the line does not intersect and is in quadrant 2."""
box = self.MakeBox(1, 2, 1, 2)
# x1 = -x2
K = numpy.matrix([[1, 1]])
w = 0
assert_array_equal(polydrivetrain.CoerceGoal(box, K, w, numpy.matrix([[5], [5]])),
numpy.matrix([[1.0], [1.0]]))
def test_coerce_outside_no_intersect(self):
"""Tests coercion when the line does not intersect the box."""
box = self.MakeBox(3, 4, 1, 2)
# x1 = x2
K = numpy.matrix([[1, -1]])
w = 0
assert_array_equal(polydrivetrain.CoerceGoal(box, K, w, numpy.matrix([[5], [5]])),
numpy.matrix([[3.0], [2.0]]))
def test_coerce_inside(self):
"""Tests coercion when the point is inside the box."""
box = self.MakeBox(1, 2, 1, 2)
# x1 = x2
K = numpy.matrix([[1, -1]])
w = 0
assert_array_equal(
polydrivetrain.CoerceGoal(box, K, w, numpy.matrix([[1.5], [1.5]])),
numpy.matrix([[1.5], [1.5]]))