def init_field(self): ce = Cell() ce.set_free() self.field = [[ce for x in xrange(self.map_width)] for x in xrange(self.map_width)] self.segmented_field = [[ self.SEGMENT_MAP_NOT_COLORED for x in xrange(self.map_width) ] for x in xrange(self.map_width)]
def test1(self): c = Cell() self.assertTrue(c.is_unknown()) self.assertFalse(c.is_object()) self.assertFalse(c.is_obstacle()) self.assertFalse(c.is_marked()) self.assertFalse(c.is_free()) c.set_obstacle() self.assertFalse(c.is_unknown()) self.assertFalse(c.is_object()) self.assertTrue(c.is_obstacle()) self.assertFalse(c.is_marked()) self.assertFalse(c.is_free()) self.assertFalse(c.is_blue()) self.assertFalse(c.is_red()) self.assertTrue(c.is_undef(), c.get_color_id()) self.assertTrue(c.get_color() == c.UNDEF) c.set_blue() self.assertFalse(c.is_unknown()) self.assertFalse(c.is_object()) self.assertTrue(c.is_obstacle()) self.assertFalse(c.is_marked()) self.assertFalse(c.is_free()) self.assertTrue(c.is_blue()) self.assertFalse(c.is_red()) self.assertFalse(c.is_undef()) c.set_free() self.assertFalse(c.is_unknown()) self.assertFalse(c.is_object()) self.assertFalse(c.is_obstacle()) self.assertFalse(c.is_marked()) self.assertTrue(c.is_free()) self.assertFalse(c.is_blue()) self.assertFalse(c.is_red()) c.set_object() self.assertFalse(c.is_unknown()) self.assertTrue(c.is_object()) self.assertFalse(c.is_obstacle()) self.assertFalse(c.is_marked()) self.assertFalse(c.is_free()) self.assertTrue(c.is_blue()) self.assertFalse(c.is_red()) self.assertFalse(c.is_undef()) c.set_mark() self.assertFalse(c.is_unknown()) self.assertTrue(c.is_object()) self.assertFalse(c.is_obstacle()) self.assertTrue(c.is_marked()) self.assertFalse(c.is_free()) self.assertTrue(c.is_blue()) self.assertFalse(c.is_red())
def test_field1(): c = Cell() c.set_free() field = [[c for x in xrange(15)] for x in xrange(15)] field[0][6] = Cell() field[0][6].set_unknown() field[0][7] = Cell() field[0][7].set_unknown() field[0][8] = Cell() field[0][8].set_unknown() field[2][6] = Cell() field[2][6].set_unknown() field[2][7] = Cell() field[2][7].set_unknown() field[2][8] = Cell() field[2][8].set_unknown() return field
def test_region_merge(self): r = Region(1) r2 = Region(2) r_c1 = Cell() r_c1.set_free() r.cells.append(r_c1) r.cell_coords.append([0,0]) r.min_x = 0 r.min_y = 0 r.max_x = 0 r.max_y = 0 r2_c1 = Cell() r2_c1.set_unknown() r2.cells.append(r2_c1) r2.cell_coords.append([1,1]) r2.min_x = 0 r2.min_y = 0 r2.max_x = 1 r2.max_y = 1 r.merge_region(r2) # Check the size of cell lists self.assertTrue(len(r.cells) == 2) self.assertTrue(len(r.cell_coords) == 2) # Check the actual cells self.assertTrue(r2_c1 in r.cells) self.assertTrue(r_c1 in r.cells) self.assertTrue([0,0] in r.cell_coords) self.assertTrue([1,1] in r.cell_coords) self.assertEqual(r.min_x,0) self.assertEqual(r.min_y,0) self.assertEqual(r.max_x,1) self.assertEqual(r.max_y,1)
def test_region_merge(self): r = Region(1) r2 = Region(2) r_c1 = Cell() r_c1.set_free() r.cells.append(r_c1) r.cell_coords.append([0, 0]) r.min_x = 0 r.min_y = 0 r.max_x = 0 r.max_y = 0 r2_c1 = Cell() r2_c1.set_unknown() r2.cells.append(r2_c1) r2.cell_coords.append([1, 1]) r2.min_x = 0 r2.min_y = 0 r2.max_x = 1 r2.max_y = 1 r.merge_region(r2) # Check the size of cell lists self.assertTrue(len(r.cells) == 2) self.assertTrue(len(r.cell_coords) == 2) # Check the actual cells self.assertTrue(r2_c1 in r.cells) self.assertTrue(r_c1 in r.cells) self.assertTrue([0, 0] in r.cell_coords) self.assertTrue([1, 1] in r.cell_coords) self.assertEqual(r.min_x, 0) self.assertEqual(r.min_y, 0) self.assertEqual(r.max_x, 1) self.assertEqual(r.max_y, 1)
def make_free_map(self): c = Cell() c.set_free() test_field = [[deepcopy(c) for x in xrange(15)] for y in xrange(15)] return test_field
def init_field(self): ce = Cell() ce.set_free() self.field = [[ce for x in xrange(self.map_width)] for x in xrange(self.map_width)] self.segmented_field = [[self.SEGMENT_MAP_NOT_COLORED for x in xrange(self.map_width)] for x in xrange(self.map_width)]