def testNoTurn(self): measurement1 = [0,0] measurement2 = [1,0] measurement3 = [2,0] [heading,turning] = hexbug_predictor.calculate_bearing_turning(measurement1,measurement2,measurement3) self.assertEqual(heading, 0) self.assertEqual(turning, 0)
def test45degreeangle2(self): measurement1 = [0,0] measurement2 = [1,-1] measurement3 = [1,-2] [heading,turning] = hexbug_predictor.calculate_bearing_turning(measurement1,measurement2,measurement3) self.assertEqual(heading, 5*pi/4) self.assertEqual(turning, -pi/4)
def test135degreeangle1(self): measurement1 = [0,0] measurement2 = [1,1] measurement3 = [0,1] [heading,turning] = hexbug_predictor.calculate_bearing_turning(measurement1,measurement2,measurement3) self.assertEqual(heading, 7*pi/4) self.assertEqual(turning, 3*pi/4)
def testRightAngle2(self): measurement1 = [0,0] measurement2 = [1,0] measurement3 = [1,-1] [heading,turning] = hexbug_predictor.calculate_bearing_turning(measurement1,measurement2,measurement3) self.assertEqual(heading, pi) self.assertEqual(turning, -pi/2)