def test_obstacle_dead_ahead(self):
sensors = Sensors({"LeftBumper": False, "RightBumper": False, "LeftSonar": 0.3, "RightSonar": 0.3})
ev = ObstacleDetected("LeftSonar", sensors, [0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
(tmin, tmax) = event_to_obstruction_direction(ev)
print "tmin = " + str(tmin) + ", tmax = " + str(tmax)
self.assertGreaterEqual(tmin, math.pi / 2, "Must turn at least 90 degrees right")
self.assertLessEqual(tmax, math.pi * 1.5, "Must turn at least 90 degrees left")
def test_obstacle_closer_on_left(self):
sensors = Sensors({
'LeftBumper': False,
'RightBumper': False,
'LeftSonar': 0.3,
'RightSonar': 0.5
})
ev = ObstacleDetected('LeftSonar', sensors,
[0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
(tmin, tmax) = event_to_obstruction_direction(ev)
print "tmin = " + str(tmin) + ", tmax = " + str(tmax)
self.assertLess(tmin, 0.0, "Must turn to right")
def test_obstacle_on_right(self):
sensors = Sensors({
'LeftBumper': False,
'RightBumper': False,
'LeftSonar': 2.5,
'RightSonar': 0.3
})
ev = ObstacleDetected('RightSonar', sensors,
[0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
(tmin, tmax) = event_to_obstruction_direction(ev)
print "tmin = " + str(tmin) + ", tmax = " + str(tmax)
self.assertGreater(tmin, 0.0, "Must turn to left")
def test_obstacle_dead_ahead(self):
sensors = Sensors({
'LeftBumper': False,
'RightBumper': False,
'LeftSonar': 0.3,
'RightSonar': 0.3
})
ev = ObstacleDetected('LeftSonar', sensors,
[0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
(tmin, tmax) = event_to_obstruction_direction(ev)
print "tmin = " + str(tmin) + ", tmax = " + str(tmax)
self.assertGreaterEqual(tmin, math.pi / 2,
"Must turn at least 90 degrees right")
self.assertLessEqual(tmax, math.pi * 1.5,
"Must turn at least 90 degrees left")
def test_obstacle_closer_on_left(self):
sensors = Sensors({"LeftBumper": False, "RightBumper": False, "LeftSonar": 0.3, "RightSonar": 0.5})
ev = ObstacleDetected("LeftSonar", sensors, [0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
(tmin, tmax) = event_to_obstruction_direction(ev)
print "tmin = " + str(tmin) + ", tmax = " + str(tmax)
self.assertLess(tmin, 0.0, "Must turn to right")
def test_obstacle_on_right(self):
sensors = Sensors({"LeftBumper": False, "RightBumper": False, "LeftSonar": 2.5, "RightSonar": 0.3})
ev = ObstacleDetected("RightSonar", sensors, [0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
(tmin, tmax) = event_to_obstruction_direction(ev)
print "tmin = " + str(tmin) + ", tmax = " + str(tmax)
self.assertGreater(tmin, 0.0, "Must turn to left")
