def test_record_best_path(map_40): planner = PathPlanner(map_40, 5, 34) planner.gScore = {5: 1, 16: 3, 14: 3} current_node = 5 neighbor_node = 16 planner.record_best_path_to(current_node, neighbor_node) came_from_node = planner.cameFrom[neighbor_node] g_score = planner.gScore[neighbor_node] f_score = planner.fScore[neighbor_node] assert current_node == came_from_node assert 1.050241214663511 == g_score assert 1.57541988984527 == f_score
def test_get_tentative_gscore(map_40): planner = PathPlanner(map_40, 5, 34) planner.gScore = {5: 2, 16: 3, 14: 3} tentative_gscore = planner.get_tentative_gScore(5, 16) assert 2.05024121466351104 == tentative_gscore
def test_calculate_fscore(map_40): planner = PathPlanner(map_40, 5, 34) planner.gScore = {5: 1, 16: 3, 14: 3} f_score = planner.calculate_fScore(5) assert 1.574734871592805 == f_score
def test_get_gscore(map_40): planner = PathPlanner(map_40, 5, 34) planner.gScore = {32: 2, 16: 3, 14: 3} gscore = planner.get_gScore(16) assert 3 == gscore