def test_circle_intersection_none(self):
"""Tests circle line intersection none case."""
intersections = ChaseWaypointGenerator._circle_intersection(
(-5, 0),
(5, 0),
(0, -10),
9
)
self.assertEqual(len(intersections), 0)
def test_circle_intersection_dual(self):
"""Tests circle line intersection two points case."""
def _almost_equal_set_of_points(list_1, list_2, offset):
"""Tests a set of points for approximate equality."""
for point_1 in list_1:
matched = False
for point_2 in list_2:
point_2 = self._add(point_2, offset)
if (
abs(point_1[0] - point_2[0]) < 0.00001
and abs(point_1[1] - point_2[1]) < 0.00001
):
matched = True
break
if not matched:
return False
return True
for p_1, p_2, circle, radius, expected in (
# Vertical
((0, -10), (0, 10), (0, 0), 1, ((0, -1), (0, 1))),
# Horizontal
((-3, 0), (300, 0), (0, 0), 2, ((2, 0), (-2, 0))),
):
for offset in self.OFFSETS:
intersections = ChaseWaypointGenerator._circle_intersection(
self._add(p_1, offset),
self._add(p_2, offset),
self._add(circle, offset),
radius
)
self.assertEqual(len(intersections), 2)
self.assertTrue(
_almost_equal_set_of_points(
intersections,
expected,
offset
),
'Calculated {}, expected {}'.format(intersections, expected)
)
intersections = ChaseWaypointGenerator._circle_intersection(
self._add(p_1, offset),
self._add(p_2, offset),
self._add(circle, offset),
radius
)
self.assertEqual(len(intersections), 2)
self.assertTrue(
_almost_equal_set_of_points(
intersections,
expected,
offset
),
'Calculated {}, expected {}'.format(intersections, expected)
)
# Diagonal
# This case is degenerate itself, because it relies on floating point
p_1, p_2, circle, radius, expected = (
(-2, 0), (0, 2), (0, 0), math.sqrt(2), (-1, 1)
)
intersections = ChaseWaypointGenerator._circle_intersection(
p_1,
p_2,
circle,
radius
)
self.assertGreaterEqual(len(intersections), 1)
for intersection in intersections:
for value, expected_value in zip(intersection, expected):
self.assertAlmostEqual(value, expected_value)
