class Challenge1TestCase(unittest.TestCase):
VIZ = False
def setUp(self):
self.path_finder = PathFinder()
def tearDown(self):
self.path_finder = None
def _run_test(self, grid, queries):
for query in queries:
path = self.path_finder.get_path(grid, query[0], query[1])
if Challenge1TestCase.VIZ:
PathVisualizer.viz_path(grid, query, path)
self.assertTrue(PathValidator.is_valid_path(grid, query, path),
"Invalid path %s for query %s." % (path, query))
def test_no_obstacles_straight_line(self):
grid = np.zeros((20, 20)).astype(np.bool)
queries = [
[Waypoint(5, 5, 0), Waypoint(5, 8, 0)],
[Waypoint(16, 5, 1), Waypoint(8, 5, 1)],
[Waypoint(5, 15, 3), Waypoint(16, 15, 3)],
]
self._run_test(grid, queries)
def test_no_obstacles_with_turns(self):
grid = np.zeros((20, 20)).astype(np.bool)
queries = [
[Waypoint(5, 7, 0), Waypoint(15, 8, 3)],
[Waypoint(16, 5, 2), Waypoint(8, 5, 1)],
[Waypoint(15, 15, 1), Waypoint(16, 15, 3)],
]
self._run_test(grid, queries)
def test_with_one_obstacle(self):
grid = np.zeros((20, 20)).astype(np.bool)
grid[10:14, 10:14] = True
queries = [
[Waypoint(5, 7, 0), Waypoint(15, 11, 3)],
[Waypoint(16, 5, 2), Waypoint(8, 5, 1)],
[Waypoint(15, 15, 1), Waypoint(16, 15, 3)],
]
self._run_test(grid, queries)
def test_with_multiple_obstacles(self):
grid = np.zeros((20, 20)).astype(np.bool)
grid[3:4, 0:15] = True
grid[13:14, 5:20] = True
queries = [[Waypoint(0, 0, 0), Waypoint(19, 19, 3)]]
self._run_test(grid, queries)
class Challenge1TestCase(unittest.TestCase):
VIZ = False
def setUp(self):
self.path_finder = PathFinder()
def tearDown(self):
self.path_finder = None
def _run_test(self, grid, queries):
for query in queries:
path = self.path_finder.get_path(grid, query[0], query[1])
if Challenge1TestCase.VIZ:
PathVisualizer.viz_path(grid, query, path)
self.assertTrue(PathValidator.is_valid_path(grid, query, path),
"Invalid path %s for query %s." % (path, query))
def _run_test_with_no_solution(self, grid, queries):
for query in queries:
path = self.path_finder.get_path(grid, query[0], query[1])
if Challenge1TestCase.VIZ:
PathVisualizer.viz_path(grid, query, path)
self.assertTrue(len(path) == 2, "No path should be return from this one")
def test_no_obstacles_straight_line(self):
grid = np.zeros((20, 20)).astype(np.bool)
queries = [
[Waypoint(5, 5, 0), Waypoint(5, 8, 0)],
[Waypoint(16, 5, 1), Waypoint(8, 5, 1)],
[Waypoint(5, 15, 3), Waypoint(16, 15, 3)],
]
self._run_test(grid, queries)
def test_no_obstacles_with_turns(self):
grid = np.zeros((20, 20)).astype(np.bool)
queries = [
[Waypoint(5, 7, 0), Waypoint(15, 8, 3)],
[Waypoint(16, 5, 2), Waypoint(8, 5, 1)],
[Waypoint(15, 15, 1), Waypoint(16, 15, 3)],
]
self._run_test(grid, queries)
def test_with_one_obstacle(self):
grid = np.zeros((20, 20)).astype(np.bool)
grid[10:14, 10:14] = True
queries = [
[Waypoint(5, 7, 0), Waypoint(15, 11, 3)],
[Waypoint(16, 5, 2), Waypoint(8, 5, 1)],
[Waypoint(15, 15, 1), Waypoint(16, 15, 3)],
]
self._run_test(grid, queries)
def test_with_random_obstacle(self):
grid = np.zeros((20, 20)).astype(np.bool)
for variable in range(1,4):
rand_a = random.randint(1, 10)
rand_b = random.randint(0, 5)
rand_c = random.randint(5, 10)
rand_d = random.randint(0, 5)
grid[rand_a:rand_a + rand_b, rand_c:rand_c + rand_d] = True
queries = [
[Waypoint(0, 0, 0), Waypoint(19, 19, 3)],
]
self._run_test(grid, queries)
def test_with_multiple_obstacles(self):
grid = np.zeros((20, 20)).astype(np.bool)
grid[3:4, 0:15] = True
grid[13:14, 5:20] = True
queries = [
[Waypoint(0, 0, 0), Waypoint(19, 19, 3)]
]
self._run_test(grid, queries)
def test_with_complex_obstacles(self):
grid = np.zeros((20, 20)).astype(np.bool)
grid[3:4, 5:20] = True
grid[7:8, 0:15] = True
grid[13:14, 5:20] = True
grid[11:14, 4:5] = True
grid[14:17, 7:8] = True
grid[15:20, 12:13] = True
queries = [
[Waypoint(0, 0, 0), Waypoint(19, 19, 3)]
]
self._run_test(grid, queries)
def test_with_no_solution(self):
grid = np.zeros((20, 20)).astype(np.bool)
grid[15:16, 0:10] = True
grid[15:20, 10:11] = True
queries = [
[Waypoint(0, 0, 0), Waypoint(19, 2, 3)]
]
self._run_test_with_no_solution(grid, queries)
