def test_easy_lrl(self):
# Regression for https://github.com/AndrewWalker/Dubins-Curves/issues/2
r = 1.0
q0 = (0, 0, math.pi/2.)
q1 = (1, 0, -math.pi/2.)
path_type = dubins.path_type(q0, q1, r)
self.assertAlmostEqual(path_type, dubins.LRL)
def test_easy_lrl(self):
# Regression for https://github.com/AndrewWalker/Dubins-Curves/issues/2
r = 1.0
q0 = (0, 0, math.pi/2.)
q1 = (1, 0, -math.pi/2.)
path_type = dubins.path_type(q0, q1, r)
self.assertAlmostEqual(path_type, dubins.LRL)
def test_colocated_configurations(self):
# Regression: previous version of the code did not work correctly
# for goal and initial configurations were too close together
qi = (0,0,0)
qg = (0,0,0)
turning_radius = 1.0
code = dubins.path_type(qi, qg, turning_radius)
self.assertEquals(code, 0)
def test_colocated_configurations(self):
# Regression: previous version of the code did not work correctly
# for goal and initial configurations were too close together
qi = (0,0,0)
qg = (0,0,0)
turning_radius = 1.0
code = dubins.path_type(qi, qg, turning_radius)
self.assertEquals(code, 0)
def test_invalid_turning_radius(self):
with self.assertRaises(RuntimeError):
dubins.path_type((0,0,0), (1,0,0), -1.0)
def test_invalid_turning_radius(self):
with self.assertRaises(RuntimeError):
dubins.path_type((0,0,0), (1,0,0), -1.0)