def map_test02():
""" 0 bits """
blocks = [
[W, W, W, W, W],
[W, I, E, E, W],
[W, E, W, E, W],
[W, S, W, I, W],
[W, W, W, W, W],
]
return GridMap(blocks=blocks)
def map_test04():
""" 0 bits, 1 state, 3 trajectories """
blocks = [
[W, W, W, W, W, W, W],
[W, E, E, S, E, E, W],
[W, E, W, W, W, E, W],
[W, I, W, W, W, E, W],
[W, I, W, W, W, I, W],
[W, W, W, W, W, W, W],
]
return GridMap(blocks=blocks)
def map_test03():
""" 1 bits, 2 states, 4 trajectories """
blocks = [
[W, W, W, W, W, W, W],
[W, E, E, S, E, E, W],
[W, E, W, W, W, E, W],
[W, I, W, W, W, I, W],
[W, I, W, W, W, I, W],
[W, W, W, W, W, W, W],
]
return GridMap(blocks=blocks)
def map_intruder_4s():
""" shorter """
blocks = [
[W, W, W, W, W, W, W],
[W, E, W, S, W, I, W],
[W, E, W, E, W, I, W],
[W, E, W, E, W, E, W],
[W, E, E, E, W, E, W],
[W, E, W, E, W, E, W],
[W, I, W, E, E, E, W],
[W, I, W, E, W, E, W],
[W, W, W, W, W, W, W],
]
return GridMap(blocks=blocks)
def map_intruder_3():
blocks = [
[W, W, W, W, W, W, W, W, W, W, W, W, W, W],
[W, E, E, E, E, E, E, E, E, E, E, E, E, W],
[W, E, E, E, E, E, E, E, E, E, E, E, E, W],
[W, E, E, E, E, E, E, E, E, E, E, E, E, W],
[W, E, E, E, E, E, E, E, E, E, E, E, E, W],
[W, E, E, E, E, I, I, I, E, E, E, E, E, W],
[W, E, E, W, W, W, W, W, W, W, W, W, E, W],
[W, E, E, E, E, E, S, E, E, E, E, E, E, W],
[W, E, E, E, E, E, E, E, E, E, E, E, E, W],
[W, E, E, E, E, E, E, E, E, E, E, E, E, W],
[W, W, W, W, W, W, W, W, W, W, W, W, W, W]
]
return GridMap(blocks=blocks)
def map_rmaze():
blocks = [
[W, W, W, W, W, W, W, W, W, W, W, W, W, W],
[W, S, E, E, W, W, W, W, W, W, E, E, E, W],
[W, E, E, E, W, W, W, W, W, W, E, E, E, W],
[W, E, E, E, W, W, W, W, W, W, E, E, E, W],
[W, E, E, E, E, E, E, E, E, E, E, E, E, W],
[W, E, E, E, W, W, W, W, W, W, E, E, E, W],
[W, E, E, E, W, W, W, W, W, W, E, E, E, W],
[W, E, E, E, W, W, W, W, W, W, E, E, G, W],
[W, E, E, E, E, E, E, E, E, E, E, E, E, W],
[W, E, E, E, E, E, E, E, E, E, E, E, E, W],
[W, E, E, E, E, E, E, E, E, E, E, E, E, W],
[W, W, W, W, W, W, W, W, W, W, W, W, W, W],
]
return GridMap(blocks=blocks)
def map_intruder_9():
""" 2 rooms, full of area """
blocks = [
[W, W, W, W, W, W, W, W, W, W, W, W, W, W],
[W, E, W, I, I, I, I, W, I, I, I, W, E, W],
[W, E, W, I, I, I, I, W, I, I, I, E, E, W],
[W, E, W, I, I, I, I, W, I, I, I, W, E, W],
[W, E, W, I, I, I, I, W, I, I, I, W, E, W],
[W, E, W, I, I, I, I, W, I, I, I, W, E, W],
[W, E, E, I, I, I, I, W, I, I, I, W, E, W],
[W, E, W, I, I, I, I, W, I, I, I, W, E, W],
[W, E, W, I, I, I, I, W, I, I, I, W, E, W],
[W, E, W, I, I, I, I, W, I, I, I, W, E, W],
[W, E, W, W, W, W, W, W, W, W, W, W, E, W],
[W, E, E, E, E, E, S, E, E, E, E, E, E, W],
[W, W, W, W, W, W, W, W, W, W, W, W, W, W]
]
return GridMap(blocks=blocks)
def map_intruder_4d():
""" Vede uno prima dell'altro """
blocks = [
[W, W, W, W, W, W, W, W, W, W, W, W, W, W],
[W, E, W, I, E, E, E, W, E, E, I, W, E, W],
[W, E, W, E, E, E, E, W, E, E, E, W, E, W],
[W, E, W, E, E, E, E, W, E, E, E, W, E, W],
[W, E, W, E, E, E, E, W, E, E, E, E, E, W],
[W, E, W, E, E, E, E, W, E, E, E, W, E, W],
[W, E, E, E, I, E, E, W, E, E, E, W, E, W],
[W, E, W, E, E, E, E, W, E, E, I, W, E, W],
[W, E, W, E, E, E, E, W, W, W, W, W, E, W],
[W, E, W, E, E, E, E, W, W, W, W, W, E, W],
[W, E, W, W, W, W, W, W, W, W, W, W, E, W],
[W, E, E, E, S, E, E, E, E, E, E, E, E, W],
[W, W, W, W, W, W, W, W, W, W, W, W, W, W]
]
return GridMap(blocks=blocks)
def map_intruder_12():
""" This has 2 distinct rooms, full environment """
blocks = [
[W, W, W, W, W, W, W, W, W, W, W, W, W, W],
[W, I, W, I, I, I, I, W, I, I, I, W, I, W],
[W, I, W, I, I, I, I, W, I, I, I, I, I, W],
[W, I, W, I, I, I, I, W, I, I, I, W, I, W],
[W, I, W, I, I, I, I, W, I, I, I, W, I, W],
[W, I, W, I, I, I, I, W, I, I, I, W, I, W],
[W, I, W, I, I, I, I, W, I, I, I, W, I, W],
[W, I, W, I, I, I, I, W, I, I, I, W, I, W],
[W, I, W, I, I, I, I, W, W, W, W, W, I, W],
[W, I, I, I, I, I, I, W, E, S, E, W, I, W],
[W, I, W, I, I, I, I, W, E, E, E, W, I, W],
[W, I, W, I, I, I, I, W, E, E, E, W, I, W],
[W, I, W, W, W, W, W, W, W, E, W, W, I, W],
[W, I, I, I, I, I, I, I, I, E, I, I, I, W],
[W, W, W, W, W, W, W, W, W, W, W, W, W, W]
]
return GridMap(blocks=blocks)
def map_intruder_10():
""" This has 3 distinct rooms, full of intruders each, start in 4th room. """
blocks = [
[W, W, W, W, W, W, W, W, W, W, W, W, W, W],
[W, E, W, I, I, I, I, W, I, I, I, W, E, W],
[W, E, W, I, I, I, I, W, I, I, I, E, E, W],
[W, E, E, I, I, I, I, W, I, I, I, W, E, W],
[W, E, W, I, I, I, I, W, I, I, I, W, E, W],
[W, E, W, I, I, I, I, W, I, I, I, W, E, W],
[W, E, W, W, W, W, W, W, I, I, I, W, E, W],
[W, E, W, I, I, I, I, W, I, I, I, W, E, W],
[W, E, W, I, I, I, I, W, W, W, W, W, E, W],
[W, E, E, I, I, I, I, W, S, E, E, W, E, W],
[W, E, W, I, I, I, I, W, E, E, E, W, E, W],
[W, E, W, I, I, I, I, W, E, E, E, W, E, W],
[W, E, W, W, W, W, W, W, W, E, W, W, E, W],
[W, E, E, E, E, E, E, E, E, E, E, E, E, W],
[W, W, W, W, W, W, W, W, W, W, W, W, W, W]
]
return GridMap(blocks=blocks)
def map_intruder_6b():
""" This has 3 distinct rooms. """
blocks = [
[W, W, W, W, W, W, W, W, W, W, W, W, W, W],
[W, E, W, I, E, E, E, W, I, E, E, W, E, W],
[W, E, W, E, E, E, E, W, E, E, E, E, E, W],
[W, E, E, E, E, E, E, W, E, E, E, W, E, W],
[W, E, W, E, E, E, E, W, E, E, E, W, E, W],
[W, E, W, I, E, E, E, W, E, E, E, W, E, W],
[W, E, W, W, W, W, W, W, E, E, E, W, E, W],
[W, E, W, W, I, E, E, W, E, E, I, W, E, W],
[W, E, W, W, E, E, E, W, W, W, W, W, E, W],
[W, E, E, E, E, E, E, W, S, E, E, W, E, W],
[W, E, W, W, E, E, E, W, E, E, E, W, E, W],
[W, E, W, W, I, E, E, W, E, E, E, W, E, W],
[W, E, W, W, W, W, W, W, W, E, W, W, E, W],
[W, E, E, E, E, E, E, E, E, E, E, E, E, W],
[W, W, W, W, W, W, W, W, W, W, W, W, W, W],
]
return GridMap(blocks=blocks)
def gridmap_test_occluded():
W = GridMap.W
E = GridMap.E
blocks = [
[W, W, W],
[W, E, E],
[W, W, W],
]
gm = GridMap(blocks=blocks)
c = [1, 1]
assert lineofsight(gm, c, [0, 0])
assert lineofsight(gm, c, [1, 0])
assert lineofsight(gm, c, [2, 0])
assert lineofsight(gm, c, [0, 1])
assert lineofsight(gm, c, [2, 1])
assert lineofsight(gm, c, [1, 2])
assert lineofsight(gm, c, [2, 2])
assert lineofsight(gm, c, [0, 2])