def test_ne_dense(self) -> None:
map1: SparseMap = SparseMap(Size(200, 200),
Agent(Point(20, 20), 10),
[Obstacle(Point(40, 40), 10), Obstacle(Point(100, 100), 40)],
Goal(Point(180, 160), 10))
map2: DenseMap = SparseMap(Size(200, 200),
Agent(Point(20, 20), 10),
[Obstacle(Point(40, 40), 10), Obstacle(Point(100, 100), 40)],
Goal(Point(180, 160), 10)).convert_to_dense_map()
self.assertNotEqual(map1, map2)
def test_ne_all(self) -> None:
map1: SparseMap = SparseMap(Size(200, 200),
Agent(Point(20, 20), 10),
[Obstacle(Point(40, 40), 10), Obstacle(Point(100, 100), 40)],
Goal(Point(180, 160), 10))
map2: SparseMap = SparseMap(Size(100, 200),
Agent(Point(10, 20), 10),
[Obstacle(Point(100, 100), 35)],
Goal(Point(180, 10), 10))
self.assertNotEqual(map1, map2)
def test_ne_instance(self) -> None:
map1: SparseMap = SparseMap(Size(200, 200, 200),
Agent(Point(20, 20, 20), 10), [
Obstacle(Point(40, 40, 40), 10),
Obstacle(Point(100, 100, 100), 40)
], Goal(Point(180, 160, 120), 10))
map2: int = 2
self.assertNotEqual(map1, map2)
def test_convert_to_dense_map(self) -> None:
map1: SparseMap = SparseMap(
Size(4, 3),
Agent(Point(0, 1)),
[Obstacle(Point(0, 0)), Obstacle(Point(1, 0)), Obstacle(Point(2, 0)), Obstacle(Point(3, 0))],
Goal(Point(3, 2))
)
map2: DenseMap = map1.convert_to_dense_map()
self.assertEqual(map1, map2)
def test_eq_sparse_map(self) -> None:
map1: DenseMap = DenseMap(
[[[DenseMap.WALL_ID, DenseMap.WALL_ID, DenseMap.CLEAR_ID],
[DenseMap.AGENT_ID, DenseMap.CLEAR_ID, DenseMap.CLEAR_ID]],
[[DenseMap.CLEAR_ID, DenseMap.CLEAR_ID, DenseMap.CLEAR_ID],
[DenseMap.GOAL_ID, DenseMap.CLEAR_ID, DenseMap.CLEAR_ID]]])
map2: SparseMap = SparseMap(Size(3, 2, 2), Agent(Point(
0, 1, 0)), [Obstacle(Point(0, 0, 0)),
Obstacle(Point(1, 0, 0))], Goal(Point(0, 1, 1)))
self.assertEqual(map1, map2)
def convert_to_sparse_map(self) -> Optional['SparseMap']:
"""
Method for converting current map into a :class:`SparseMap`
:return: The converted map
"""
from algorithms.configuration.maps.sparse_map import SparseMap
obstacles: List[Obstacle] = list(
filter(lambda o: not isinstance(o, ExtendedWall), self.obstacles))
sparse_map: SparseMap = SparseMap(self.size, copy.deepcopy(self.agent),
obstacles, copy.deepcopy(self.goal),
self.services)
sparse_map.trace = copy.deepcopy(self.trace)
return sparse_map
def test_str_debug_level_3(self) -> None:
services: Services = Mock()
services.settings.simulator_write_debug_level = DebugLevel.HIGH
map1: SparseMap = SparseMap(
Size(30, 30),
Agent(Point(1, 2), 1),
[Obstacle(Point(5, 5), 100)],
Goal(Point(4, 3), 1),
services
).convert_to_dense_map()
self.assertEqual("""DenseMap: {
size: Size(30, 30),
agent: Agent: {position: Point(1, 2), radius: 1},
goal: Goal: {position: Point(4, 3), radius: 1},
obstacles: 898,
grid: [
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
]
}""", str(map1))
def _static_init_(cls):
cls.pixel_map_small_obstacles: SparseMap = \
SparseMap(Size(100, 100),
Agent(Point(20, 60), 5),
[
Obstacle(Point(20, 50), 5),
Obstacle(Point(60, 40), 5),
Obstacle(Point(40, 80), 5),
Obstacle(Point(30, 10), 5),
Obstacle(Point(80, 80), 5),
Obstacle(Point(20, 40), 5),
],
Goal(Point(95, 95), 5))
cls.pixel_map_empty: SparseMap = \
SparseMap(Size(500, 500),
Agent(Point(245, 245), 10),
[],
Goal(Point(0, 0), 5))
cls.pixel_map_one_obstacle: SparseMap = \
SparseMap(Size(500, 500),
Agent(Point(40, 40), 10),
[
Obstacle(Point(250, 250), 50),
],
Goal(Point(460, 460), 10))
cls.pixel_map_one_obstacle_3d: SparseMap = \
SparseMap(Size(500, 500, 100),
Agent(Point(40, 40, 8), 10),
[
Obstacle(Point(250, 250, 50), 50),
],
Goal(Point(460, 460, 92), 10))
cls.grid_map_one_obstacle: SparseMap = \
SparseMap(Size(33, 32),
Agent(Point(0, 15)), # Point(x,y) x starts from 0 from left side (column); y starts from 0 from top (row)
[
Obstacle(Point(15, 13), 5),
],
Goal(Point(31, 15)))
cls.grid_map_one_obstacle1 = cls.grid_map_one_obstacle.convert_to_dense_map() # DenseMap shows the obstacles as black, SparseMap shows radius of obstacle as white
cls.grid_map_one_obstacle1.name = "Long Wall"
cls.grid_map_3d_no_obstacles: DenseMap = DenseMap([[[2, 0], [0, 0]], [[0, 0], [3, 0]]])
cls.grid_map_3d_one_obstacle: DenseMap = DenseMap([[[2, 0], [0, 0]], [[0, 1], [3, 0]]])
cls.grid_map_3d_complex_with_obstacles: DenseMap = DenseMap([[[0, 0, 0], [0, 1, 0], [2, 0, 0]], [[0, 1, 0], [0, 1, 0], [1, 0, 0]], [[0, 0, 3], [0, 0, 0], [0, 1, 0]]])
cls.grid_map_3d_example_3_3_3: DenseMap = DenseMap([[[0, 0, 0], [0, 0, 0], [2, 0, 0]], [[0, 0, 0], [0, 1, 0], [0, 0, 0]], [[0, 0, 3], [0, 0, 0], [0, 0, 0]]])
cls.grid_map_3d_example_4_4_3: DenseMap = DenseMap([[[0, 0, 0, 1], [1, 0, 0, 0], [2, 0, 1, 0], [0, 0, 0, 0]], [[0, 0, 0, 1], [0, 0, 0, 0], [
0, 1, 0, 0], [0, 0, 0, 1]], [[0, 0, 0, 0], [0, 0, 0, 3], [0, 0, 0, 0], [0, 0, 0, 1]]])
cls.grid_map_3d_example_4_4_4: DenseMap = DenseMap([[[0, 0, 0, 1], [1, 0, 0, 0], [0, 0, 1, 0], [0, 0, 0, 0]], [[0, 0, 0, 1], [1, 0, 0, 0], [2, 0, 1, 0], [0, 0, 0, 0]], [
[0, 0, 0, 1], [0, 0, 0, 0], [0, 1, 0, 0], [0, 0, 0, 1]], [[0, 0, 0, 0], [0, 0, 0, 3], [0, 0, 0, 0], [0, 0, 0, 1]]])
cls.large_map_one_obstacle_3d: SparseMap = \
SparseMap(Size(20, 20, 20),
Agent(Point(19, 4, 8), 1),
[
Obstacle(Point(15, 15, 5), 3),
],
Goal(Point(4, 19, 9), 1))
cls.grid_map_3d_example: DenseMap = cls.large_map_one_obstacle_3d.convert_to_dense_map()
cls.grid_map_3d_example.name = "3D Cube"
cls.grid_map_labyrinth: DenseMap = DenseMap([
[2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 1, 3, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
], name="Labyrinth")
cls.grid_map_labyrinth2: DenseMap = DenseMap([
# 0 is free space; 1 is obstacle; 2 is starting location; 3 is goal location
[2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 3, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
])
cls.grid_map_complex_obstacle: DenseMap = DenseMap([
[2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0],
[0, 0, 1, 1, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0],
[0, 0, 0, 1, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 1, 0, 0, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0],
[0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0],
[0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 3, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
], name="vin test 16x16 -1")
cls.grid_map_complex_obstacle2: DenseMap = DenseMap([
[2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 1, 0, 0, 1, 1, 1, 0, 0, 1, 1, 0, 0, 0],
[0, 0, 0, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0],
[0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0],
[0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0],
[0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0],
[0, 0, 1, 1, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0],
[0, 0, 0, 1, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 1, 0, 1, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0],
[0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0],
[0, 1, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 3, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
], name="vin test 16x16 -2")
cls.grid_map_small_one_obstacle: DenseMap = DenseMap([
[0, 0, 0, 0, 0, 0, 0, 0],
[0, 2, 0, 0, 0, 1, 1, 0],
[0, 0, 1, 0, 0, 1, 0, 0],
[1, 0, 1, 0, 0, 0, 0, 0],
[0, 0, 1, 1, 1, 1, 0, 0],
[0, 0, 1, 0, 1, 1, 0, 0],
[1, 0, 1, 0, 0, 1, 3, 0],
[0, 0, 0, 0, 0, 1, 1, 0],
], name="vin test 8x8 -2")
cls.grid_map_small_one_obstacle2: DenseMap = DenseMap([
[1, 1, 1, 1, 1, 1, 1, 1],
[1, 0, 0, 0, 0, 0, 0, 1],
[1, 0, 0, 0, 0, 0, 0, 1],
[1, 0, 0, 0, 0, 0, 0, 1],
[1, 0, 1, 1, 1, 1, 2, 1],
[1, 0, 1, 1, 1, 1, 0, 1],
[3, 0, 0, 0, 0, 0, 0, 1],
[1, 1, 1, 1, 1, 1, 1, 1],
], name="vin test 8x8")
cls.grid_map_small_one_obstacle3: DenseMap = DenseMap([
[2, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 1, 1, 0, 0, 0, 0],
[0, 0, 1, 0, 0, 0, 0, 0],
[0, 0, 0, 1, 1, 1, 1, 1],
[0, 0, 0, 1, 1, 1, 1, 1],
[0, 1, 0, 0, 0, 0, 0, 0],
[0, 0, 1, 0, 1, 1, 0, 0],
[3, 0, 0, 0, 0, 0, 0, 0],
], name="vin test 8x8 -3")
cls.grid_map_no_solution: DenseMap = DenseMap([
[0, 0, 0, 0, 0, 0, 0, 0],
[0, 1, 1, 1, 1, 1, 1, 0],
[0, 1, 0, 1, 2, 0, 1, 0],
[0, 1, 0, 1, 1, 0, 1, 0],
[0, 1, 0, 1, 1, 0, 1, 0],
[0, 1, 0, 0, 0, 0, 1, 0],
[0, 1, 1, 1, 1, 1, 1, 0],
[0, 0, 0, 0, 0, 0, 0, 3],
])
cls.grid_yt: DenseMap = DenseMap([
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 3],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0],
[0, 0, 0, 0, 0, 0, 0, 2, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
])
cls.grid_map_28x28: SparseMap = \
SparseMap(Size(28, 28),
Agent(Point(0, 0)), # Point(x,y) x starts from 0 from left side (column); y starts from 0 from top (row)
[
Obstacle(Point(15, 13), 5),
Obstacle(Point(21, 22), 2),
Obstacle(Point(6, 5), 3),
],
Goal(Point(28, 28)))
cls.ogm_2d_immutable = OccupancyGridMap([
[-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1],
[-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1],
[-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1],
[-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1],
[-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1],
[-1, -1, -1, -1, -1, 1, 1, 1, 1, 1, 1, 1, 1, -1, -1, -1, -1, -1],
[-1, -1, -1, -1, -1, 1, 0, 0.2, 0.2, 0.3, 0, 0, 1, -1, -1, -1, -1, -1],
[-1, -1, -1, -1, -1, 1, 0, 0.5, 0, 0, 0, 0, 1, -1, -1, -1, -1, -1],
[-1, -1, -1, -1, -1, 1, 0, 0.7, 0.3, 0, 0, 0, 1, -1, -1, -1, -1, -1],
[-1, -1, -1, -1, -1, 1, 0, 1, 1, 1, 1, 0, 1, -1, -1, -1, -1, -1],
[-1, -1, -1, -1, -1, 1, 0, 1, 1, 1, 1, 0, 1, -1, -1, -1, -1, -1],
[-1, -1, -1, -1, -1, 0, 0, 0, 0, 0, 0, 0, 1, -1, -1, -1, -1, -1],
[-1, -1, -1, -1, -1, 1, 1, 1, 1, 1, 1, 1, 1, -1, -1, -1, -1, -1],
[-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1],
[-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1],
[-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1],
[-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1],
[-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1]],
Agent(Point(7, 7), radius=1), Goal(Point(7, 9)), unmapped_value=-1, mutable=False)
cls.ogm_2d = OccupancyGridMap([ # used for dynamic growth debugging
[0, 0, 0.2, 0.3, 0.4, 0.8, 1, 1, 0.8, 0, 0, 1, 1, 0, 0, 0, 0, 0.9],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.5]] +
[[-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1] for _ in range(40)],
Agent(Point(0, 0)), Goal(Point(0, 16)), unmapped_value=-1, name="Occupancy Grid 2D")
cls.ogm_3d_immutable = OccupancyGridMap([[[0, 0, 0.25, 1, 0, 0, 0.25, 1, 0, 0, 0.25, 1, 0, 0, 0.25, 1],
[1, 0, 0.56, 0, 1, 0, 0.56, 0, 1, 0, 0.56, 0, 1, 0, 0.56, 0],
[0.8, 0, 0, 0, 0.8, 0, 0, 0, 0.8, 0, 0, 0, 0.8, 0, 0, 0],
[0.2, 0.3, 0.4, 0.5, 0.2, 0.3, 0.4, 0.5, 0.2, 0.3, 0.4, 0.5, 0.2, 0.3, 0.4, 0.5]],
[[0.2, 0.4, 0.5, 0, 0.2, 0.4, 0.5, 0, 0.2, 0.4, 0.5, 0, 0.2, 0.4, 0.5, 0],
[0, 0, 0.2, 0, 0, 0, 0.2, 0, 0, 0, 0.2, 0, 0, 0, 0.2, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0.8, 0, 0, 0, 0.8, 0, 0, 0, 0.8, 0, 0, 0, 0.8, 0, 0]],
[[0.8, 0.8, 0, 0, 0.8, 0.8, 0, 0, 0.8, 0.8, 0, 0, 0.8, 0.8, 0, 0],
[0, 0, 0.0, 0, 0, 0, 0.0, 0, 0, 0, 0.1, 0, 0, 0, 0.1, 0],
[0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0],
[0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1]],
[[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0.3908, 0, 0, 0.121, 0, 0, 0.213123, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.56, 0.23, 0.567, 0.9, 0],
[0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1]],
[[0, 0, 0, 0, 0, 0, 0, 0, 0.56, 0.23, 0.567, 0.9, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0.245, 0, 0, 0, 0.56, 0.23, 0.567, 0.9, 0, 0, 0],
[0, 0, 0.56, 0.23, 0.567, 0.9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1]],
[[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0.56, 0.23, 0.567, 0.9, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1]],
[[0, 0, 0.25, 1, 0, 0, 0.25, 1, 0, 0, 0.25, 1, 0, 0, 0.25, 1],
[1, 0, 0.56, 0, 1, 0, 0.56, 0, 1, 0, 0.56, 0, 1, 0, 0.56, 0],
[0.8, 0, 0, 0, 0.8, 0, 0, 0, 0.8, 0, 0, 0, 0.8, 0, 0, 0],
[0.2, 0.3, 0.4, 0.5, 0.2, 0.3, 0.4, 0.5, 0.2, 0.3, 0.4, 0.5, 0.2, 0.3, 0.4, 0.5]]],
Agent(Point(0, 0, 0), radius=1), Goal(Point(0, 0, 1)), mutable=False)
cls.ogm_3d = OccupancyGridMap([[ # used for dynamic growth debugging
[0, 0, 0.2, 0.3, 0.4, 0.8, 1, 1, 0.8, 0, 0, 1, 1, 0, 0, 0, 0, 0.9],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.5]]] +
[[[-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1], [-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1]] for _ in range(40)],
Agent(Point(0, 0, 0)), Goal(Point(0, 0, 16)), unmapped_value=-1, name="Occupancy Grid 3D")
cls.grid_map_28x28vin = cls.grid_map_one_obstacle.convert_to_dense_map()
cls.grid_map_28x28vin.name = "vin test 28x28 -1"
class Maps:
"""
This class contains cached maps only
"""
pixel_map_small_obstacles: SparseMap = \
SparseMap(Size(100, 100),
Agent(Point(20, 60), 5),
[
Obstacle(Point(20, 50), 5),
Obstacle(Point(60, 40), 5),
Obstacle(Point(40, 80), 5),
Obstacle(Point(30, 10), 5),
Obstacle(Point(80, 80), 5),
Obstacle(Point(20, 40), 5),
],
Goal(Point(95, 95), 5))
pixel_map_empty: SparseMap = \
SparseMap(Size(500, 500),
Agent(Point(245, 245), 10),
[],
Goal(Point(0, 0), 5))
pixel_map_one_obstacle: SparseMap = \
SparseMap(Size(500, 500),
Agent(Point(40, 40), 10),
[
Obstacle(Point(250, 250), 50),
],
Goal(Point(460, 460), 10))
grid_map_one_obstacle: SparseMap = \
SparseMap(Size(32, 32),
Agent(Point(0, 15)),
[
Obstacle(Point(15, 15), 5),
],
Goal(Point(31, 15)))
grid_map_labyrinth: DenseMap = DenseMap([
[2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 1, 3, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
])
grid_map_labyrinth2: DenseMap = DenseMap([
[2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 3, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
])
grid_map_complex_obstacle: DenseMap = DenseMap([
[2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 3],
])
grid_map_small_one_obstacle: DenseMap = DenseMap([
[2, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 1, 1, 0, 0, 0],
[0, 0, 0, 1, 1, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 3],
])
grid_map_small_one_obstacle2: DenseMap = DenseMap([
[2, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 1, 1, 1, 1, 1],
[0, 0, 0, 1, 1, 1, 1, 1],
[0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 3],
])
grid_map_small_one_obstacle3: DenseMap = DenseMap([
[2, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 1, 1, 1, 1, 1],
[0, 0, 0, 1, 1, 1, 1, 1],
[0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0],
[3, 0, 0, 0, 0, 0, 0, 0],
])
grid_map_no_solution: DenseMap = DenseMap([
[0, 0, 0, 0, 0, 0, 0, 0],
[0, 1, 1, 1, 1, 1, 1, 0],
[0, 1, 0, 1, 2, 0, 1, 0],
[0, 1, 0, 1, 1, 0, 1, 0],
[0, 1, 0, 1, 1, 0, 1, 0],
[0, 1, 0, 0, 0, 0, 1, 0],
[0, 1, 1, 1, 1, 1, 1, 0],
[0, 0, 0, 0, 0, 0, 0, 3],
])
grid_yt: DenseMap = DenseMap([
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 3],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0],
[0, 0, 0, 0, 0, 0, 0, 2, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
])
