def _update_backward(self, command: Command, state: State) -> State:
assert command.opcode == "backward"
backward_meters, = command.operands
move_direction = state.orientation_degrees + 180
state = state.copy_and_set_time_used_seconds(
state.time_used_seconds + backward_meters / self.drone_config.speed_mps)
state = state.copy_and_set_x_meters(state.x_meters + backward_meters * sin(radians(move_direction)))
state = state.copy_and_set_y_meters(state.y_meters + backward_meters * cos(radians(move_direction)))
return state
def test_copy_and_set_y_meters(self):
state = State()
actual = state.copy_and_set_y_meters(1)
expected = State(has_taken_off=False, time_used_seconds=0,
x_meters=0, y_meters=1, z_meters=0, orientation_degrees=0)
self.assertEqual(expected, actual)