def test_same_start_point_is_node(self): polygon = Polygon() polygon.add_point(0, 1) polygon.add_point(0, 2) polygon.add_point(1, 2) polygon.add_point(1, 1) planner = AStarPlanner() planner.add_polygon(polygon) planner.init() planner.find_path(0, 0, 1, 2)
def test_line_intersect_epsilon(self): polygon = Polygon([ Vec2d(540, 591), Vec2d(600, 571), Vec2d(590, 440), Vec2d(542, 471), Vec2d(533, 576) ]) planner = AStarPlanner() planner.add_polygon(polygon) planner.init() path = planner.find_path(596, 526, 462, 516) self.assertEquals(path, [Vec2d(600, 571), Vec2d(540, 591), Vec2d(462, 516)])