Exemplo n.º 1
0
 def test_easy_lrl(self):
     # Regression for https://github.com/AndrewWalker/Dubins-Curves/issues/2
     r = 1.0
     q0 = (0, 0, math.pi/2.)
     q1 = (1, 0, -math.pi/2.)
     path_type = dubins.path_type(q0, q1, r)
     self.assertAlmostEqual(path_type, dubins.LRL)
Exemplo n.º 2
0
 def test_easy_lrl(self):
     # Regression for https://github.com/AndrewWalker/Dubins-Curves/issues/2
     r = 1.0
     q0 = (0, 0, math.pi/2.)
     q1 = (1, 0, -math.pi/2.)
     path_type = dubins.path_type(q0, q1, r)
     self.assertAlmostEqual(path_type, dubins.LRL)
Exemplo n.º 3
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 def test_colocated_configurations(self):
     # Regression: previous version of the code did not work correctly 
     # for goal and initial configurations were too close together
     qi = (0,0,0)
     qg = (0,0,0)
     turning_radius = 1.0
     code = dubins.path_type(qi, qg, turning_radius)
     self.assertEquals(code, 0)
Exemplo n.º 4
0
 def test_colocated_configurations(self):
     # Regression: previous version of the code did not work correctly 
     # for goal and initial configurations were too close together
     qi = (0,0,0)
     qg = (0,0,0)
     turning_radius = 1.0
     code = dubins.path_type(qi, qg, turning_radius)
     self.assertEquals(code, 0)
Exemplo n.º 5
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 def test_invalid_turning_radius(self):
     with self.assertRaises(RuntimeError):
         dubins.path_type((0,0,0), (1,0,0), -1.0)
Exemplo n.º 6
0
 def test_invalid_turning_radius(self):
     with self.assertRaises(RuntimeError):
         dubins.path_type((0,0,0), (1,0,0), -1.0)