def deplacer(self, vecteur: Vecteur):
"""
deplace le robot et sa tete
:param vecteur: Vecteur
"""
Robot.deplacer(self, vecteur)
self.tete.deplacer(vecteur)
def tournerAutour(self, point: Point, angle: float):
"""
tourne le robot et la tete
:param point: Point
:param angle: float en rad
:return:
"""
Robot.tournerAutour(self, point, angle)
self.tete.tournerAutour(point, angle)
class TestRobot(unittest.TestCase):
def setUp(self):
self.r = Robot(Pave(50, 50, 0), Objet3D(), Objet3D(), Vecteur(0, -1, 0))
def test_initialisation(self):
self.assertIsInstance(self.r, Robot, msg=None)
self.assertIsInstance(self.r.rd, Objet3D, msg=None)
self.assertIsInstance(self.r.rg, Objet3D, msg=None)
self.assertIsInstance(self.r.forme, Pave, msg=None)
self.assertIsInstance(self.r.direction, Vecteur, msg=None)
def test_avancer(self):
direction = self.r.direction
vitesse = 1.0
self.r.avancer(1)
self.assertEqual(self.r.direction, direction*vitesse)
def setUp(self):
self.r = Robot()
random.seed()
class TestRobot(unittest.TestCase):
def setUp(self):
self.r = Robot()
random.seed()
def test_init(self):
self.assertIsInstance(self.r, Robot, msg=None)
self.assertIsInstance(self.r.rd, Objet3D, msg=None)
self.assertIsInstance(self.r.rg, Objet3D, msg=None)
self.assertIsInstance(self.r.forme, Pave, msg=None)
self.assertIsInstance(self.r.direction, Vecteur, msg=None)
self.assertEqual(
self.r.rd.centre, self.r.centre +
(self.r.direction.rotate(-pi / 4) * self.r.forme.width / 2))
self.assertEqual(
self.r.rg.centre, self.r.centre +
(self.r.direction.rotate(pi / 4) * self.r.forme.width / 2))
self.assertEqual(self.r.dist_wheels, self.r.forme.width)
def test_clone(self):
r = self.r.clone()
self.assertEqual(r.forme, self.r.forme)
self.assertEqual(r.centre, self.r.centre)
self.assertEqual(r.direction, self.r.direction)
self.assertEqual(r.rd, self.r.rd)
self.assertEqual(r.rg, self.r.rg)
self.assertEqual(r.dist_wheels - self.r.dist_wheels, 0.0)
def test_eq(self):
r = self.r.clone()
self.assertEqual(r, self.r)
r = self.r.clone()
r.centre = None
self.assertNotEqual(r, self.r)
r = self.r.clone()
r.direction = None
self.assertNotEqual(r, self.r)
r = self.r.clone()
r.rg = None
self.assertNotEqual(r, self.r)
r = self.r.clone()
r.rd = None
self.assertNotEqual(r, self.r)
r = self.r.clone()
r.dist_wheels = None
self.assertNotEqual(r, self.r)
def test_move(self):
v = Vecteur(
random.choice([1, -1]) * random.randint(0, 5),
random.choice([1, -1]) * random.randint(0, 5),
random.choice([1, -1]) * random.randint(0, 5))
f = self.r.forme.clone()
c = self.r.centre.clone()
rg = self.r.rg.clone()
rd = self.r.rd.clone()
self.r.move(v)
rd.move(v)
rg.move(v)
f.move(v)
c.move(v)
self.assertEqual(self.r.forme, f)
self.assertEqual(self.r.centre, c)
self.assertEqual(self.r.rd, rd)
self.assertEqual(self.r.rg, rg)
def test_rotate_around(self):
p = Point(
random.choice([1, -1]) * random.randint(0, 5),
random.choice([1, -1]) * random.randint(0, 5),
random.choice([1, -1]) * random.randint(0, 5)) + self.r.centre
teta = random.random() * 2 * pi * random.choice([1, -1])
f = self.r.forme.clone()
c = self.r.centre.clone()
rg = self.r.rg.clone()
rd = self.r.rd.clone()
self.r.rotate_around(p, teta)
rd.centre.rotate_around(p, teta)
rg.centre.rotate_around(p, teta)
f.centre.rotate_around(p, teta)
c.rotate_around(p, teta)
self.assertEqual(self.r.forme.centre, f.centre)
self.assertEqual(self.r.centre, c)
self.assertEqual(self.r.rd.centre, rd.centre)
self.assertEqual(self.r.rg.centre, rg.centre)
def test_rotate_all_around(self):
p = Point(
random.choice([1, -1]) * random.randint(0, 5),
random.choice([1, -1]) * random.randint(0, 5),
random.choice([1, -1]) * random.randint(0, 5)) + self.r.centre
teta = random.random() * 2 * pi * random.choice([1, -1])
f = self.r.forme.clone()
c = self.r.centre.clone()
rg = self.r.rg.clone()
rd = self.r.rd.clone()
v = self.r.direction.clone()
print(v)
self.r.rotate_all_around(p, teta)
rd.rotate_around(p, teta)
rg.rotate_around(p, teta)
f.rotate_all_around(p, teta)
c.rotate_around(p, teta)
v.rotate(teta)
self.assertEqual(self.r.direction, v)
self.assertEqual(self.r.forme, f)
self.assertEqual(self.r.centre, c)
self.assertEqual(self.r.direction, v)
self.assertEqual(self.r.rd, rd)
self.assertEqual(self.r.rg, rg)
from gl_lib.sim.robot import Robot
from math import *
from gl_lib.sim.robot import Tete
# Creation d'une arene et ajout de n objets
a = Arene()
a.height = 50
a.width = 50
poly = Polygone3D()
p = Pave(10, 10, 10)
# p.tournerAutour(Point(0,4,5) , pi/3)
# poly.sommets = [Point(14, 15, 14), Point(5, 99, 120)]
# a.add(poly)
a.add(p)
robot = Robot(Pave(0, 0, 0), direction=Vecteur(1, 1, 0))
robot.deplacer(Vecteur(-20, -20, 0))
tete = Tete(robot)
capt = CapteurIR(tete)
#a.sauvegarder("./geometrie/BanqueArenes/arene1.txt")
v = Vecteur(1, -1, 0)
alpha = v.getAngle2D()
print(tan(alpha), tan(3 * pi / 4))
dist, mat = capt.mesure(a)
print(dist)
for i in range(int(a.height + a.height / 2)):
for j in range(int(a.width + a.width / 2)):
print(mat[j][i], end=' ')
print("\n")
def setUp(self):
self.r = Robot(Pave(50, 50, 0), Objet3D(), Objet3D(), Vecteur(0, -1, 0))