def test_biastar_emptyqueue_unmatched():
mock_service = MockDistanceService()
# Nodes
s = Node("s", 1, 1) # Start node
g = Node("g", 0, 0) # End node
# Neighbors
mock_service.set_neighbors(s, [])
mock_service.set_neighbors(g, [])
manual_solution = ([], float("inf"))
result = BiAStar.run(s, g, node_l2distance, mock_service)
assert (result['path'], result['distance']) == manual_solution
def test_biastar_direct_path_match():
"""
Direct path between the start and end node
"""
mock_service = MockDistanceService()
# Nodes
s = Node("s", 10, 10) # Start node
g = Node("g", 0, 0) # End node
# Neighbors
mock_service.set_neighbors(s, [[1, g]])
mock_service.set_neighbors(g, [])
manual_solution = ([g], 1)
result = BiAStar.run(s, g, node_l2distance, mock_service)
assert (result['path'], result['distance']) == manual_solution
def test_biastar_multigraph_match():
"""
The graph contains loops (edges defined by the same vertex)
"""
mock_service = MockDistanceService()
# Nodes
s = Node("s", 10, 10) # Start node
a = Node("a", 3, 4)
b = Node("b", 2, 2)
g = Node("g", 0, 0) # End node
# Neighbors
mock_service.set_neighbors(s, [[3, a]])
mock_service.set_neighbors(a, [[1, a], [3, b]])
mock_service.set_neighbors(b, [[1, b], [2, a], [3, g]])
mock_service.set_neighbors(g, [])
manual_solution = ([a, b, g], 9)
result = BiAStar.run(s, g, node_l2distance, mock_service)
assert (result['path'], result['distance']) == manual_solution
def test_biastar_odd_length_match():
"""
The path has an odd length
"""
mock_service = MockDistanceService()
# Nodes
s = Node("s", 10, 10) # Start node
a = Node("a", 3, 4)
b = Node("b", 2, 2)
g = Node("g", 0, 0) # End node
# Neighbors
mock_service.set_neighbors(s, [[3, a]])
mock_service.set_neighbors(a, [[3, b]])
mock_service.set_neighbors(b, [[3, g]])
mock_service.set_neighbors(g, [])
manual_solution = ([a, b, g], 9)
result = BiAStar.run(s, g, node_l2distance, mock_service)
assert (result['path'], result['distance']) == manual_solution
def test_biastar_predefined_match():
"""
Compare the output to a manually computed solution
"""
mock_service = MockDistanceService()
# Nodes
s = Node("s") # Start node
a = Node("a", 12, 35)
b = Node("b", 8, 15)
c = Node("c", 5, 12)
d = Node("d", 3, 4)
e = Node("e", 3, 4)
f = Node("f", 9, 40)
h = Node("h", 15, 8)
i = Node("i", 12, 5)
j = Node("j", 7, 24)
k = Node("k", 39, 80)
g = Node("g", 0, 0) # End node
# Neighbors
mock_service.set_neighbors(s, [[3, d], [9, e], [1, i]])
mock_service.set_neighbors(a, [])
mock_service.set_neighbors(b, [[2, a]])
mock_service.set_neighbors(c, [[2, a]])
mock_service.set_neighbors(d, [[1, b], [8, c], [2, e]])
mock_service.set_neighbors(e, [[9, k], [1, h], [14, f]])
mock_service.set_neighbors(f, [[5, g]])
mock_service.set_neighbors(h, [[4, j], [4, i]])
mock_service.set_neighbors(i, [[15, j]])
mock_service.set_neighbors(j, [[3, k]])
mock_service.set_neighbors(k, [[5, f]])
mock_service.set_neighbors(g, [])
manual_solution = ([d, e, f, g], 24)
result = BiAStar.run(s, g, node_l2distance, mock_service)
assert (result['path'], result['distance']) == manual_solution
def do_biastar(self, start_node: Node, end_node: Node):
return BiAStar.run(start_node, end_node, node_l2distance, self.distance_service)