def test_indexing(self): node = OccupancyOctoNode() # Assuming node with dimension 2 and origin 0,0,0 origin = (0,0,0) self.assertEqual( node.index( origin, origin, 2 ), 0 ) self.assertEqual( node.index( ( 0.5, 0.5, 0.5 ), origin, 2), 0 ) self.assertEqual( node.index( ( 0, 0.5, 0.5 ), origin, 2), 0 ) self.assertEqual( node.index( ( 0.5, 0, 0.5 ), origin, 2), 0 ) self.assertEqual( node.index( ( 0.5, 0.5, 0 ), origin, 2), 0 ) self.assertEqual( node.index( ( 1.5, 0.5, 0.5 ), origin, 2), 1 ) self.assertEqual( node.index( ( 1, 0, 0 ), origin, 2), 1 ) self.assertEqual( node.index( ( 0.5, 1.5, 0.5 ), origin, 2 ), 2) self.assertEqual( node.index( ( 0, 1, 0 ), origin, 2 ), 2) self.assertEqual( node.index( ( 1.5, 1.5, 0.5 ), origin, 2), 3 ) self.assertEqual( node.index( ( 1, 1, 0 ), origin, 2), 3 ) self.assertEqual( node.index( ( 0.5, 0.5, 1.5 ), origin, 2), 4 ) self.assertEqual( node.index( ( 0, 0, 1 ), origin, 2), 4 ) self.assertEqual( node.index( ( 1.5, 0.5, 1.5 ), origin, 2), 5 ) self.assertEqual( node.index( ( 1, 0, 1 ), origin, 2), 5 ) self.assertEqual( node.index( ( 0.5, 1.5, 1.5 ), origin, 2), 6 ) self.assertEqual( node.index( ( 0, 1, 1 ), origin, 2), 6 ) self.assertEqual( node.index( ( 1.5, 1.5, 1.5 ), origin, 2), 7 ) self.assertEqual( node.index( ( 1, 1, 1 ), origin, 2), 7 )