def __noCollision_ObstacleIsNotTheLastOne(self, compteur, safeZoneCornerBotLeft, safeZoneCornerTopLeft):
safeZoneCornerTopRight = (self.obstaclesList[compteur + 1].positionX - self.SAFE_MARGIN, 0 + (self.SAFE_MARGIN - 20))
safeZone = SafeZone(safeZoneCornerTopLeft, safeZoneCornerTopRight, safeZoneCornerBotLeft)
endNode = safeZone.getCenterNodeOfSafeZone()
self.graph.safeZonesList.append(safeZone)
self.obstaclesList[compteur + 1].setStartingNode(endNode)
return endNode
def generateSafeZone(self, safeZoneCornerBotLeft, safeZoneCornerTopLeft,
safeZoneCornerTopRight):
safeZone = SafeZone(safeZoneCornerTopLeft, safeZoneCornerTopRight,
safeZoneCornerBotLeft)
tempNode = safeZone.getCenterNodeOfSafeZone()
self.safeZonesList.append(safeZone)
tempNode.isASafeNode = True
return tempNode
def __noCollision_ObstacleIsNotTheLastOne(self, compteur, safeZoneCornerBotLeft, safeZoneCornerTopLeft):
safeZoneCornerTopRight = (
self.obstaclesList[compteur + 1].positionX - self.SAFE_MARGIN,
0 + (self.SAFE_MARGIN - 20),
)
safeZone = SafeZone(safeZoneCornerTopLeft, safeZoneCornerTopRight, safeZoneCornerBotLeft)
endNode = safeZone.getCenterNodeOfSafeZone()
self.graph.safeZonesList.append(safeZone)
self.obstaclesList[compteur + 1].setStartingNode(endNode)
return endNode
def __oneCollision_CollisionIsTop_noCollisionBeforeTheSideOfMap(self, collisionBottomRightCornerTemp,
collisionUpperRightCorner, safeZoneCornerBotLeft,
safeZoneCornerTopLeft):
safeZoneCornerTopRight = (collisionBottomRightCornerTemp.positionX - self.SAFE_MARGIN,
collisionUpperRightCorner.positionY + self.SAFE_MARGIN)
safeZone = SafeZone(safeZoneCornerTopLeft, safeZoneCornerTopRight, safeZoneCornerBotLeft)
endNode = safeZone.getCenterNodeOfSafeZone()
self.graph.safeZonesList.append(safeZone)
endNode.isASafeNode = True
collisionBottomRightCornerTemp.setStartingNode(endNode)
return endNode
def __ObstacleBetweenTheTwoCollision(self, collisionUpperRightCorner,
collisionUpperRightCornerTemp,
safeZoneCornerBotLeft,
safeZoneCornerTopLeft):
safeZoneCornerTopRight = (collisionUpperRightCornerTemp.positionX - self.SAFE_MARGIN,
collisionUpperRightCorner.positionY + self.SAFE_MARGIN)
safeZone = SafeZone(safeZoneCornerTopLeft, safeZoneCornerTopRight, safeZoneCornerBotLeft)
endNode = safeZone.getCenterNodeOfSafeZone()
self.graph.safeZonesList.append(safeZone)
collisionUpperRightCornerTemp.setStartingNode(endNode)
endNode.isASafeNode = True
return endNode
def __ObstacleBetweenTheTwoCollision(
self, collisionUpperRightCorner, collisionUpperRightCornerTemp, safeZoneCornerBotLeft, safeZoneCornerTopLeft
):
safeZoneCornerTopRight = (
collisionUpperRightCornerTemp.positionX - self.SAFE_MARGIN,
collisionUpperRightCorner.positionY + self.SAFE_MARGIN,
)
safeZone = SafeZone(safeZoneCornerTopLeft, safeZoneCornerTopRight, safeZoneCornerBotLeft)
endNode = safeZone.getCenterNodeOfSafeZone()
self.graph.safeZonesList.append(safeZone)
collisionUpperRightCornerTemp.setStartingNode(endNode)
endNode.isASafeNode = True
return endNode
def __oneCollision_CollisionIsTop_noCollisionBeforeTheSideOfMap(
self, collisionBottomRightCornerTemp, collisionUpperRightCorner, safeZoneCornerBotLeft, safeZoneCornerTopLeft
):
safeZoneCornerTopRight = (
collisionBottomRightCornerTemp.positionX - self.SAFE_MARGIN,
collisionUpperRightCorner.positionY + self.SAFE_MARGIN,
)
safeZone = SafeZone(safeZoneCornerTopLeft, safeZoneCornerTopRight, safeZoneCornerBotLeft)
endNode = safeZone.getCenterNodeOfSafeZone()
self.graph.safeZonesList.append(safeZone)
endNode.isASafeNode = True
collisionBottomRightCornerTemp.setStartingNode(endNode)
return endNode
class SafeZoneTest(TestCase):
def setUp(self):
self.safeZone = SafeZone((0, 0), (200, 0), (0, 100))
def test_getGoodCenterOfZone(self):
centerNode = self.safeZone.getCenterNodeOfSafeZone()
theCenter = (100, 50)
self.assertEqual(centerNode.positionX, theCenter[0])
self.assertEqual(centerNode.positionY, theCenter[1])
class SafeZoneTest(TestCase):
def setUp(self):
self.safeZone = SafeZone((0,0),(200,0),(0,100))
def test_getGoodCenterOfZone(self):
centerNode = self.safeZone.getCenterNodeOfSafeZone()
theCenter = (100,50)
self.assertEqual(centerNode.positionX, theCenter[0])
self.assertEqual(centerNode.positionY, theCenter[1])
def setUp(self):
self.safeZone = SafeZone((0, 0), (200, 0), (0, 100))
def __noCollision_obstacleIsTheLastOne(self, safeZoneCornerBotLeft, safeZoneCornerTopLeft):
safeZoneCornerTopRight = (self.MAP_SIZE_X, 0 + (self.SAFE_MARGIN - 20))
safeZone = SafeZone(safeZoneCornerTopLeft, safeZoneCornerTopRight, safeZoneCornerBotLeft)
endNode = safeZone.getCenterNodeOfSafeZone()
self.graph.safeZonesList.append(safeZone)
return endNode
def __noCollision_obstacleIsTheLastOne(self, safeZoneCornerBotLeft, safeZoneCornerTopLeft):
safeZoneCornerTopRight = (self.MAP_SIZE_X, 0 + (self.SAFE_MARGIN - 20))
safeZone = SafeZone(safeZoneCornerTopLeft, safeZoneCornerTopRight, safeZoneCornerBotLeft)
endNode = safeZone.getCenterNodeOfSafeZone()
self.graph.safeZonesList.append(safeZone)
return endNode
def generateSafeZone(self, safeZoneCornerBotLeft, safeZoneCornerTopLeft, safeZoneCornerTopRight):
safeZone = SafeZone(safeZoneCornerTopLeft, safeZoneCornerTopRight, safeZoneCornerBotLeft)
tempNode = safeZone.getCenterNodeOfSafeZone()
self.safeZonesList.append(safeZone)
tempNode.isASafeNode = True
return tempNode
def setUp(self):
self.safeZone = SafeZone((0,0),(200,0),(0,100))
