class TestUnitaire_Sommet(unittest.TestCase): localisationTresor = LocalisationTresor() orientationCamera = 90 orientationRobot = 90 centreX = 0 angleTresor = 180 x1 = 10 y1 = 10 pointDeCroisement = (20, 20) positionXRobot = 0 positionYRobot = 0 origine1 = (20, 0) fin1 = (20, 40) origine2 = (10, 0) fin2 = (10, 40) origine3 = (10, 20) fin3 = (30, 20) def setUp(self): self.localisationTresor = LocalisationTresor() self.orientationCamera = 90 self.orientationRobot = 90 self.centreX = 0 self.angleTresor = 180 self.x1 = 10 self.y1 = 10 self.pointDeCroisement = (20, 20) self.positionXRobot = 0 self.positionYRobot = 0 self.origine1 = (20, 0) self.fin1 = (20, 40) self.origine2 = (10, 0) self.fin2 = (10, 40) self.origine3 = (10, 20) self.fin3 = (30, 20) def tearDown(self): pass def test_recupererAngleTresorRetourneLeBonAngle(self): angle = self.localisationTresor.recupererAngleTresor( self.orientationCamera, self.orientationRobot, self.centreX ) self.assertEqual(angle, 112.5) def test_recupererPositionXTresorAvecAngleRetourneLaBonnePosition(self): positionX = self.localisationTresor.recupererPositionXTresorAvecAngle(self.angleTresor, self.x1) self.assertEqual(positionX, -2490.0) def test_recupererPositionYTresorAvecAngleRetourneLaBonnePosition(self): positionY = self.localisationTresor.recupererPositionYTresorAvecAngle(self.angleTresor, self.y1) self.assertEqual(int(round(positionY)), 10.0) def test_calculerDistanceEntreRobotEtTresorRetourneLaBonneDistance(self): distance = self.localisationTresor.calculerDistanceEntreRobotEtTresor( self.pointDeCroisement, self.positionXRobot, self.positionYRobot ) self.assertEqual(distance, sqrt(800.0)) def test_trouverCroisementEntreDeuxSegmentsParallelesRetourneFalseEtLePointOrigine(self): sontCroisees = self.localisationTresor.trouverCroisement(self.origine1, self.fin1, self.origine2, self.fin2) self.assertEqual(sontCroisees, (False, (0, 0))) def test_trouverCroisementEntreDeuxSegmentsNonParallelesRetourneTrueEtLePointDeCroisement(self): sontCroisees = self.localisationTresor.trouverCroisement(self.origine1, self.fin1, self.origine3, self.fin3) self.assertEqual(sontCroisees, (True, (20, 20)))