def test_when_path_from_some_other_point_then_last_position_is_correct_one(
self) -> None:
self.grassfire_pathable_0_0 = GrassfirePathable(
SOME_TABLE_WHICH_GOAL_IS_0_0)
path = self.grassfire_pathable_0_0.path_from(POSITION_9_9)
self.assertEqual(POSITION_0_0, path.movements[-1].stop)
def test_whenPathingFromUnalignedPositionClosestToUpperAngle_thenRotationAlignsToUpperAngle(
self) -> None:
self.grassfire_pathable_0_0 = GrassfirePathable(
SOME_TABLE_WHICH_GOAL_IS_0_0)
unaligned_position = AbsoluteCoordinate(1, 3, Orientation(7 * pi / 16))
path = self.grassfire_pathable_0_0.path_from(unaligned_position)
self.assertEqual(Orientation(pi / 2),
path.movements[0].stop.orientation)
def test_whenPathingFromSpecificPosition_thenPathIsRight(self) -> None:
self.grassfire_pathable_0_0 = GrassfirePathable(
SOME_TABLE_WHICH_GOAL_IS_0_0)
unaligned_position = AbsoluteCoordinate(1, 3,
Orientation(15 * pi / 16))
path = self.grassfire_pathable_0_0.path_from(unaligned_position)
expected_path = AbsolutePath([
AbsoluteMovement(unaligned_position,
AbsoluteCoordinate(0, 2, Orientation(pi))),
AbsoluteMovement(AbsoluteCoordinate(0, 2, Orientation(pi)),
AbsoluteCoordinate(0, 0, Orientation(0)))
])
self.assertEqual(expected_path, path)
class TestPathableGrassfire(TestCase):
def test_when_path_from_some_point_then_last_position_is_correct_one(
self) -> None:
self.grassfire_pathable_9_9 = GrassfirePathable(
SOME_TABLE_WHICH_GOAL_IS_9_9)
path = self.grassfire_pathable_9_9.path_from(POSITION_2_2)
self.assertEqual(POSITION_9_9, path.movements[-1].stop)
def test_when_path_from_some_other_point_then_last_position_is_correct_one(
self) -> None:
self.grassfire_pathable_0_0 = GrassfirePathable(
SOME_TABLE_WHICH_GOAL_IS_0_0)
path = self.grassfire_pathable_0_0.path_from(POSITION_9_9)
self.assertEqual(POSITION_0_0, path.movements[-1].stop)
def test_whenPathingFromUnalignedPositionClosestToLowerAngle_thenRotationAlignsToLowerAngle(
self) -> None:
self.grassfire_pathable_0_0 = GrassfirePathable(
SOME_TABLE_WHICH_GOAL_IS_0_0)
unaligned_position = AbsoluteCoordinate(1, 3, Orientation(5 * pi / 16))
path = self.grassfire_pathable_0_0.path_from(unaligned_position)
self.assertEqual(Orientation(pi / 4),
path.movements[0].stop.orientation)
def test_whenPathingFromUnalignedPositionClosestToUpperAngle_thenRotationAlignsToUpperAngle(
self) -> None:
self.grassfire_pathable_0_0 = GrassfirePathable(
SOME_TABLE_WHICH_GOAL_IS_0_0)
unaligned_position = AbsoluteCoordinate(1, 3, Orientation(7 * pi / 16))
path = self.grassfire_pathable_0_0.path_from(unaligned_position)
self.assertEqual(Orientation(pi / 2),
path.movements[0].stop.orientation)
def test_whenPathingFromUnalignedPositionClosestToAngle_thenRotationAlignsToAngle(
self) -> None:
self.grassfire_pathable_0_0 = GrassfirePathable(
SOME_TABLE_WHICH_GOAL_IS_0_0)
unaligned_position = AbsoluteCoordinate(1, 3,
Orientation(15 * pi / 16))
path = self.grassfire_pathable_0_0.path_from(unaligned_position)
self.assertEqual(Orientation(pi), path.movements[0].stop.orientation)
def test_whenPathingFromSpecificPosition_thenPathIsRight(self) -> None:
self.grassfire_pathable_0_0 = GrassfirePathable(
SOME_TABLE_WHICH_GOAL_IS_0_0)
unaligned_position = AbsoluteCoordinate(1, 3,
Orientation(15 * pi / 16))
path = self.grassfire_pathable_0_0.path_from(unaligned_position)
expected_path = AbsolutePath([
AbsoluteMovement(unaligned_position,
AbsoluteCoordinate(0, 2, Orientation(pi))),
AbsoluteMovement(AbsoluteCoordinate(0, 2, Orientation(pi)),
AbsoluteCoordinate(0, 0, Orientation(0)))
])
self.assertEqual(expected_path, path)
def create_from(self, data: str) -> IAbsolutePathable:
return GrassfirePathable(Table.deserialize(data))