def __init__(self, methodName='runTest'):
super(TestAstar, self).__init__(methodName)
self.g1 = GridWithWeights(4, 4)
self.g2 = EightDirectionGrid(4, 4)
self.g3 = DynamicBoundGrid(4, 4)
self.g4 = DynamicBoundGridWithShortcuts(4, 4)
self.g5 = DenseGraph(self.g4)
self.g6 = DualityGraph(4, 4)
class TestDualityGraph(unittest.TestCase):
def __init__(self, methodName='runTest'):
super(TestDualityGraph, self).__init__(methodName)
self.g1 = DualityGraph(4, 4)
self.g1.set_search((0, 0), (3, 3))
def test_case1(self):
self.assertSetEqual(set(self.g1.neighbors((0, 0))),
set([(3, 0), (0, 3), (3, 3)]))
import sys
import time
import matplotlib.pyplot as plt
root = os.path.join(os.path.dirname(__file__), '..')
sys.path.append(root)
from graph.grid8d import EightDirectionGrid
from graph.duality_graph import DualityGraph
from pathfinder.astar import a_star_search
from pathfinder.util import reduce_path, reconstruct_path
from shape.Octagon import solid_octagon
from shape.OctagonLine import solid_octagon_line
if __name__ == '__main__':
grid1 = EightDirectionGrid(10000, 10000)
grid2 = DualityGraph(10000, 10000)
p = 0.0
# for pos in solid_octagon(510, 1000, 20):
# grid1.walls.add(pos)
# grid2.walls.add(pos)
# start1, goal1 = (0, 500), (600, 5100)
# start2, goal2 = (10, 500), (600, 5200)
# start3, goal3 = (20, 500), (600, 5300)
for pos in solid_octagon_line((550, 500), (550, 5500), 20):
grid1.walls.add(pos)
grid2.walls.add(pos)
start1, goal1 = (500, 500), (600, 5100)
class TestAstar(unittest.TestCase):
def __init__(self, methodName='runTest'):
super(TestAstar, self).__init__(methodName)
self.g1 = GridWithWeights(4, 4)
self.g2 = EightDirectionGrid(4, 4)
self.g3 = DynamicBoundGrid(4, 4)
self.g4 = DynamicBoundGridWithShortcuts(4, 4)
self.g5 = DenseGraph(self.g4)
self.g6 = DualityGraph(4, 4)
def test_case1(self):
start = (0, 0)
goal = (3, 3)
came_from, cost_so_far = a_star_search(self.g1, start, goal)
path = reconstruct_path(came_from, start, goal)
answer = [(0, 0), (0, 1), (1, 1), (1, 2), (2, 2), (2, 3), (3, 3)]
self.assertEqual(path, answer)
def test_case2(self):
start = (0, 0)
goal = (3, 3)
came_from, cost_so_far = a_star_search(self.g2, start, goal)
path = reconstruct_path(came_from, start, goal)
answer = [(0, 0), (1, 1), (2, 2), (3, 3)]
self.assertEqual(path, answer)
def test_case3(self):
start = (0, 0)
goal = (3, 3)
self.g3.set_search(start, goal)
came_from, cost_so_far = a_star_search(self.g3, start, goal)
path = reconstruct_path(came_from, start, goal)
answer = [(0, 0), (1, 1), (2, 2), (3, 3)]
self.assertEqual(path, answer)
def test_case4(self):
start = (0, 0)
goal = (3, 3)
self.g4.set_search(start, goal)
came_from, cost_so_far = a_star_search(self.g4, start, goal)
path = reconstruct_path(came_from, start, goal)
answer = [(0, 0), (1, 1), (2, 2), (3, 3)]
self.assertEqual(path, answer)
def test_case5(self):
start = (0, 0)
goal = (3, 3)
self.g5.set_search(start, goal)
came_from, cost_so_far = a_star_search(self.g5, start, goal)
path = reconstruct_path(came_from, start, goal)
answer = [(0, 0), (1, 1), (2, 2), (3, 3)]
self.assertEqual(path, answer)
def test_case6(self):
start = (0, 0)
goal = (3, 3)
self.g6.set_search(start, goal)
came_from, cost_so_far = a_star_search(self.g6, start, goal)
path = reconstruct_path(came_from, start, goal)
answer = [(0, 0), (3, 3)]
self.assertEqual(path, answer)
import sys
import time
import matplotlib.pyplot as plt
root = os.path.join(os.path.dirname(__file__), '..')
sys.path.append(root)
from graph.grid8d import EightDirectionGrid
from graph.duality_graph import DualityGraph
from pathfinder.astar import a_star_search
from pathfinder.util import reduce_path, reconstruct_path
from shape.Octagon import solid_octagon
from shape.OctagonLine import solid_octagon_line
if __name__ == '__main__':
grid = DualityGraph(10000, 10000)
p = 0.0
grid.walls.add((0, 1))
grid.walls.add((0, 2))
grid.walls.add((0, 3))
grid.walls.add((0, 4))
start, goal = (0, 0), (0, 5)
plt.figure()
plt.scatter([pos[0] for pos in grid.walls], [pos[1] for pos in grid.walls],
color='black')
t0 = time.time()
grid.set_search(start, goal)
def __init__(self, methodName='runTest'):
super(TestDualityGraph, self).__init__(methodName)
self.g1 = DualityGraph(4, 4)
self.g1.set_search((0, 0), (3, 3))