def test_point_collision(self): self.assertTrue( self.obs._collision_point(pos.Pos(np.array([2, 0, 0]))), "testing point collision") self.assertFalse( self.obs._collision_point(pos.Pos(np.array([1, 0, 0]))), "testing point collision")
def direction(self): """ unit vector of direction :return: Position """ len = self.length() if len == 0.0: uvec = pos.Pos(np.transpose(np.array([0, 0, 0]))) else: uvec = pos.Pos(np.transpose(np.array([(self.end.x - self.start.x) / len, (self.end.y - self.start.y) / len, (self.end.z - self.start.z) / len]))) return uvec
def test_scalarprod(self): self.assertEqual(self.scalarprod, pos.Pos(np.array([3, 6, 9])), "scalar product test") self.assertEqual(self.scalarprod, 3 * self.point, "scalar product test")
def test_diff(self): self.assertEqual(self.diff, pos.Pos(np.array([3, 3, 3])), "difference test")
def test_sum(self): self.assertEqual(self.sum, pos.Pos(np.array([5, 7, 9])), "sum test")
def test_eq(self): self.assertEqual(self.point, pos.Pos(np.array([1, 2, 3])), "equality test")
def setUp(self): self.point = pos.Pos(np.array([1, 2, 3, 4])) self.otherpt = pos.Pos(np.array([4, 5, 6, 7])) self.sum = self.point + self.otherpt self.diff = self.otherpt - self.point self.scalarprod = self.point * 3
def test_pos(self): self.assertEqual(self.obs.position, pos.Pos(np.array([1, 2, 3])), "testing position of obstacle")
def setUp(self): self.obs = DummyObs(pos.Pos(np.array([1, 2, 3])), np.array([1])) self.pos = pos.Pos(np.array([4, 5, 6])) self.seg = seg.Seg(pos.Pos(np.array([1, 1, 1])), pos.Pos(np.array([2, 2, 3])))
def test_direction(self): self.assertEqual(self.seg1.direction(), pos.Pos(np.array([0, 1, 0])), "unit vector test") self.assertEqual(self.seg2.direction(), pos.Pos(np.array([0, 1, 0])), "unit vector test")
def test_end(self): self.assertEqual(self.seg1.end, pos.Pos(np.array([1, 1, 0])), "end point access test")
def test_start(self): self.assertEqual(self.seg1.start, pos.Pos(np.array([1, 0, 0])), "starting point access test")
def setUp(self): self.seg1 = seg.Seg(pos.Pos(np.array([1, 0, 0])), pos.Pos(np.array([1, 1, 0]))) self.seg2 = seg.Seg(pos.Pos(np.array([1, 0, 1])), pos.Pos(np.array([1, 1, 1])))
def test_collision(self): self.assertTrue(self.obs.collision_check(self.nc_path), "testing collision") self.assertFalse( self.obs.collision_check(pos.Pos(np.array([1, 0, 0]))), "testing collision")
def setUp(self): self.obs = obs.RoundObs(pos.Pos(np.array([0, 0, 0])), 1.0) self.nc_path = seg.Seg(pos.Pos(np.array([2, 0, 0])), pos.Pos(np.array([2, 2, 0]))) self.c_path = seg.Seg(pos.Pos(np.array([-1, 0, 0])), pos.Pos(np.array([1, 0, 0])))
def setUp(self): self.obs = obs.CylObs(pos.Pos(np.array([0, 0, 0])), 1.0) self.nc_path = seg.Seg(pos.Pos(np.array([2, 0, 0])), pos.Pos(np.array([2, 2, 0]))) p1 = pos.Pos(np.array([-1.03, -0.1566, 1.10])) p2 = pos.Pos(np.array([1.094, 0.29, 1.22])) self.c_path = seg.Seg(p1, p2)