def _put_in_world_referential(orientation: float, cmd: Pose) -> Pose:
if config['GAME']['on_negative_side']:
cmd.position = rotate(cmd.position, -np.pi - orientation)
cmd.x *= -1
cmd.orientation *= -1
else:
cmd.position = rotate(cmd.position, orientation)
return cmd
def _put_in_robots_referential(robot: Robot, cmd: Pose) -> Pose:
if config['GAME']['on_negative_side']:
cmd.x *= -1
cmd.orientation *= -1
cmd.position = rotate(cmd.position, np.pi + robot.orientation)
else:
cmd.position = rotate(cmd.position, -robot.orientation)
return cmd
def test_rotate_identity():
assert rotate(A_POS, A_POS_ANGLE) is not A_POS
def test_rotate_by_negative_angle():
assert rotate(A_POS, A_NEG_ANGLE) == A_POS_ROTATED_BY_A_NEG_ANGLE
def test_rotate_return_type():
assert isinstance(rotate(A_POS, A_POS_ANGLE), Position)
def test_rotate_by_positive_angle():
assert rotate(A_POS, A_POS_ANGLE) == A_POS_ROTATED_BY_A_POS_ANGLE
def test_rotate_identity():
assert rotate(A_POS, A_POS_ANGLE) is not A_POS
def test_rotate_return_type():
assert isinstance(rotate(A_POS, A_POS_ANGLE), Position)
def test_rotate_by_negative_angle():
assert rotate(A_POS, A_NEG_ANGLE) == A_POS_ROTATED_BY_A_NEG_ANGLE
def test_rotate_by_positive_angle():
assert rotate(A_POS, A_POS_ANGLE) == A_POS_ROTATED_BY_A_POS_ANGLE