def test_map_non_recursive_solutions(self):
"""Tests odrmstar on a couple of test maps, no constraints"""
if not (FULL_TEST or EPEMSTAR_FULL):
self.skipTest('Skipped map test for brevity')
print '\nEPEM* long tests'
dat = pickle.load(open('../maps/5_40_bots_step_5.map'))
start_time = time.time()
# Test inlfated
for i in [0, 30, 60, 101, 131, 141, 151, 161, 200, 250, 300, 350, 400]:
print i
d = dat[i]
path = od_mstar.find_path(d['obs_map'], d['init_pos'], d['goals'],
inflation=10, time_limit=60,
recursive=False, connect_8=True,
epemstar=True)
self.assertTrue(validate_solution(path))
self.assertTrue(path[-1] == d['goals'])
# Test uniflated
print 'uninflated'
# for i in [0, 30, 60, 101, 131, 141, 151, 161, 200, 227, 250,
# 275, 280]
# , 301, 350]:
for i in [0, 30, 60, 101, 131, 141, 151, 161]:
print i
d = dat[i]
path = od_mstar.find_path(d['obs_map'], d['init_pos'], d['goals'],
inflation=1, time_limit=60,
recursive=False, connect_8=True,
epemstar=True)
self.assertTrue(validate_solution(path))
self.assertTrue(path[-1] == d['goals'])
print 'time elapsed: %g' % (time.time() - start_time)
def test_op_decomp_single_robot(self):
"""Tests ODM* on simple single robot cases"""
path = od_mstar.find_path(self.world_descriptor, [[0, 0]], [[1, 0]])
self.assertTrue(path == (((0, 0), ), ((1, 0), )))
path = od_mstar.find_path(self.world_descriptor, [[0, 0]], [[1, 1]])
self.assertTrue(path == (((0, 0), ), ((1, 0), ), ((1, 1), )) or
path == (((0, 0), ), ((0, 1), ), ((1, 1), )))
self.assertTrue(validate_solution(path))
self.world_descriptor[1][0] = 1
path = od_mstar.find_path(self.world_descriptor, [[0, 0]], [[2, 0]])
self.assertTrue(path == (((0, 0), ), ((0, 1), ),
((1, 1), ), ((2, 1), ), ((2, 0), )))
# TEST 8-connected paths
path = od_mstar.find_path(self.world_descriptor, [[0, 0]], [[1, 1]],
connect_8=True)
self.assertTrue(path == (((0, 0), ), ((1, 1), )))
path = od_mstar.find_path(self.world_descriptor, [[0, 0]], [[2, 0]],
connect_8=True)
self.assertTrue(path == (((0, 0), ), ((1, 1), ), ((2, 0), )))
def test_od_mstar_multirobot_paths(self):
"""Tests some simple multirobot cases on ODrM*"""
path = od_mstar.find_path(self.world_descriptor,
[[0, 0], [1, 0]], [[1, 0], [0, 0]])
self.assertTrue(validate_solution(path))
self.assertTrue(compute_cost(path) == 4)
path = od_mstar.find_path(self.world_descriptor,
[[0, 0], [1, 0], [5, 5]],
[[1, 0], [0, 0], [6, 6]])
self.assertTrue(validate_solution(path))
self.assertTrue(compute_cost(path) == 6)
# Test a simple three robot collision along edge
path = od_mstar.find_path(self.world_descriptor,
[[3, 0], [0, 0], [2, 0]],
[[0, 0], [3, 0], [5, 0]])
self.assertTrue(validate_solution(path))
# TEST 8-connected paths
path = od_mstar.find_path(self.world_descriptor,
[[0, 0], [1, 0]], [[1, 0], [0, 0]],
connect_8=True)
self.assertTrue(validate_solution(path))
self.assertTrue(compute_cost(path) == 3)
path = od_mstar.find_path(self.world_descriptor,
[[0, 0], [1, 0], [5, 5]],
[[1, 0], [0, 0], [6, 6]], connect_8=True)
self.assertTrue(validate_solution(path))
self.assertTrue(compute_cost(path) == 4)
# Test with some obstacles
self.world_descriptor[5][0] = 1
path = od_mstar.find_path(self.world_descriptor,
[[4, 0], [6, 0]], [[6, 0], [4, 0]])
self.assertTrue(validate_solution(path))
self.assertTrue(compute_cost(path) == 10)
def test_epemstar_multirobot_paths(self):
"""Tests some simple multirobot cases on EPEM*"""
# pdb.set_trace()
recursive = False
path = od_mstar.find_path(self.world_descriptor,
[[0, 0], [1, 0]],
[[1, 0], [0, 0]], recursive=recursive,
epemstar=True, time_limit=10)
self.assertTrue(validate_solution(path))
self.assertTrue(compute_cost(path) == 4)
path = od_mstar.find_path(self.world_descriptor,
[[0, 0], [1, 0], [5, 5]],
[[1, 0], [0, 0], [6, 6]],
recursive=recursive, epemstar=True,
time_limit=10)
self.assertTrue(validate_solution(path))
self.assertTrue(compute_cost(path) == 6)
# Test a simple three robot collision along edge
path = od_mstar.find_path(self.world_descriptor,
[[3, 0], [0, 0], [2, 0]],
[[0, 0], [3, 0], [5, 0]],
recursive=recursive,
epemstar=True, time_limit=10)
self.assertTrue(validate_solution(path))
# TEST 8-connected paths
path = od_mstar.find_path(self.world_descriptor,
[[0, 0], [1, 0]],
[[1, 0], [0, 0]], recursive=recursive,
connect_8=True, epemstar=True,
time_limit=10)
self.assertTrue(validate_solution(path))
self.assertTrue(compute_cost(path) == 3)
path = od_mstar.find_path(self.world_descriptor,
[[0, 0], [1, 0], [5, 5]],
[[1, 0], [0, 0], [6, 6]], connect_8=True,
recursive=recursive, epemstar=True,
time_limit=10)
self.assertTrue(validate_solution(path))
self.assertTrue(compute_cost(path) == 4)
# Test with some obstacles
self.world_descriptor[5][0] = 1
path = od_mstar.find_path(self.world_descriptor, [[4, 0], [6, 0]],
[[6, 0], [4, 0]], recursive=recursive,
epemstar=True, time_limit=10)
self.assertTrue(validate_solution(path))
self.assertTrue(compute_cost(path) == 10)