def test_angle_between_straights_three(self):
point1 = np.array([0, 0])
point2 = np.array([-1, 1])
point3 = np.array([0, 0])
point4 = np.array([1, 1])
straight1 = get_straight_from_points(point1, point2)
straight2 = get_straight_from_points(point3, point4)
print(straight1, straight2)
angle = angle_between_two_straight(straight1, straight2)
self.assertAlmostEqual(angle, 90)
def test_calculate_straight_from_points_one(self):
point_1 = (0, 0) # x, y
point_2 = (1, 1)
a, b, c = get_straight_from_points(point_1, point_2)
self.assertEqual(a, 1)
self.assertEqual(b, -1)
self.assertEqual(c, 0)
def __init__(self):
checkpoints = self._load_board()
checkpoints = self._order_checkpoints(checkpoints)
self.dots = checkpoints
self.current_checkpoint_index = 0
self._last_car_position = np.zeros((2, ))
self.car_position = self._last_car_position
self.car_direction = np.zeros((2, ))
self.current_road_straight_line = get_straight_from_points(
self.current_checkpoint, self.next_checkpoint)
self.car_size = 100 # hardcoded for debugging
def distance_to_road(self):
a, b, c = get_straight_from_points(self.current_checkpoint,
self.last_checkpoint)
if a == 0: # parallel to OY
return abs(self.current_checkpoint[0] - self.car_position[0])
if b == 0: # parallel to OX
return abs(self.current_checkpoint[1] - self.car_position[1])
tmp = point_to_straight_distance((a, b, c), self.car_position)
return tmp
def car_direction_straight(self):
return get_straight_from_points(self.car_position,
self.car_front_point)
def _forward_checkpoint(self):
self.current_checkpoint_index = (self.current_checkpoint_index +
1) % len(self.dots)
self.current_road_straight_line = get_straight_from_points(
self.current_checkpoint, self.next_checkpoint)
