def test_rotate_degrees_clockwise(self):
"""Tests rotating a vector degrees clockwise."""
base = (1.0, 0.0)
not_rotated = Telemetry.rotate_degrees_clockwise(base, 0.0)
self.assertAlmostEqual(not_rotated[0], base[0])
self.assertAlmostEqual(not_rotated[1], base[1])
ninety = Telemetry.rotate_degrees_clockwise(base, 90.0)
self.assertAlmostEqual(ninety[0], 0.0)
self.assertAlmostEqual(ninety[1], -1.0)
one_eighty = Telemetry.rotate_degrees_clockwise(base, 180.0)
self.assertAlmostEqual(one_eighty[0], -base[0])
self.assertAlmostEqual(one_eighty[1], base[1])
two_seventy = Telemetry.rotate_degrees_clockwise(base, 270.0)
self.assertAlmostEqual(two_seventy[0], 0.0)
self.assertAlmostEqual(two_seventy[1], 1.0)
three_sixty = Telemetry.rotate_degrees_clockwise(base, 360.0)
self.assertAlmostEqual(three_sixty[0], base[0])
self.assertAlmostEqual(three_sixty[1], base[1])
negative_ninety = Telemetry.rotate_degrees_clockwise(base, -90.0)
self.assertAlmostEqual(negative_ninety[0], two_seventy[0])
self.assertAlmostEqual(negative_ninety[1], two_seventy[1])
def _get_extended_waypoint(self):
"""Returns the extended waypoint."""
if self._current_waypoint_index == 0:
return self._waypoints[0]
if (self._current_waypoint_index >= 1
and self._current_waypoint_index < len(self._waypoints)):
previous_waypoint_m = self._waypoints[self._current_waypoint_index
- 1]
current_waypoint_m = self._waypoints[self._current_waypoint_index]
degrees = Telemetry.relative_degrees(previous_waypoint_m[0],
previous_waypoint_m[1],
current_waypoint_m[0],
current_waypoint_m[1])
offset_m = Telemetry.rotate_degrees_clockwise((0.0, self.BEYOND_M),
degrees)
return (current_waypoint_m[0] + offset_m[0],
current_waypoint_m[1] + offset_m[1])
return self._waypoints[-1]
def test_rotate_degrees_clockwise(self):
"""Tests rotating a vector degrees clockwise."""
base = (1.0, 0.0)
not_rotated = Telemetry.rotate_degrees_clockwise(base, 0.0)
self.assertAlmostEqual(not_rotated[0], base[0])
self.assertAlmostEqual(not_rotated[1], base[1])
ninety = Telemetry.rotate_degrees_clockwise(base, 90.0)
self.assertAlmostEqual(ninety[0], 0.0)
self.assertAlmostEqual(ninety[1], -1.0)
one_eighty = Telemetry.rotate_degrees_clockwise(
base,
180.0
)
self.assertAlmostEqual(one_eighty[0], -base[0])
self.assertAlmostEqual(one_eighty[1], base[1])
two_seventy = Telemetry.rotate_degrees_clockwise(
base,
270.0
)
self.assertAlmostEqual(two_seventy[0], 0.0)
self.assertAlmostEqual(two_seventy[1], 1.0)
three_sixty = Telemetry.rotate_degrees_clockwise(
base,
360.0
)
self.assertAlmostEqual(three_sixty[0], base[0])
self.assertAlmostEqual(three_sixty[1], base[1])
negative_ninety = Telemetry.rotate_degrees_clockwise(
base,
-90.0
)
self.assertAlmostEqual(negative_ninety[0], two_seventy[0])
self.assertAlmostEqual(negative_ninety[1], two_seventy[1])
