def test_reached(self): """Tests the reached waypoint algorithm.""" points = ((19, 7), (20, 21), (-10, 20)) generator = ExtensionWaypointGenerator(points) # Right on top should count as reached self.assertTrue(generator.reached(points[0][0], points[0][1])) self.assertTrue(generator.reached(points[0][0] + 0.5, points[0][1])) self.assertTrue(generator.reached(points[0][0] - 0.5, points[0][1])) self.assertTrue(generator.reached(points[0][0] - 0.5, points[0][1] + 0.5)) self.assertTrue(generator.reached(points[0][0] + 0.5, points[0][1] + 0.5)) # And reaching the beyond point should count too waypoint = generator.get_current_waypoint(points[0][0], points[0][1]) self.assertTrue(generator.reached(waypoint[0], waypoint[1]))
def test_get_current_waypoint(self): """Tests the extension waypoint generation.""" points = ((20, 20),) generator = ExtensionWaypointGenerator(points) # If there's only one point, always return it self.assertEqual(points[0], generator.get_current_waypoint(10, 10)) self.assertEqual(points[0], generator.get_current_waypoint(19, 19)) self.assertEqual(points[0], generator.get_current_waypoint(21, 19)) self.assertEqual(points[0], generator.get_current_waypoint(21, 21)) self.assertEqual(points[0], generator.get_current_waypoint(19, 21)) # Project through tests position = (-100, 20) points = ((0, 0), (0, 10), (10, 10), (10, 0), (0, 0), (5, 5), (5, 0), (5, -5), (0, 0)) generator = ExtensionWaypointGenerator(points) self.assertEqual( generator.get_current_waypoint( position[0], position[1] ), points[0] ) generator.next() self.assertTrue(position not in points) for index in range(1, len(points)): point = points[index] previous_point = points[index - 1] true_waypoint = point waypoint = generator.get_current_waypoint( position[0], position[1] ) self.assertAlmostEqual( Telemetry.relative_degrees( previous_point[0], previous_point[1], true_waypoint[0], true_waypoint[1] ), Telemetry.relative_degrees( previous_point[0], previous_point[1], waypoint[0], waypoint[1] ) ) def distance(x1, y1, x2, y2): """Returns distance between 2 points.""" return math.sqrt( (x1 - x2) ** 2 + (y1 - y2) ** 2 ) self.assertLess( distance( previous_point[0], previous_point[1], true_waypoint[0], true_waypoint[1] ) + 1.0, distance( previous_point[0], previous_point[1], waypoint[0], waypoint[1] ) ) generator.next()