class test_rectangle:
def setUp(self):
self.rect = Rectangle([0,0],[1,1])
def test_min_inside(self):
assert_almost_equal(self.rect.min_distance_point([0.5,0.5]),0)
def test_min_one_side(self):
assert_almost_equal(self.rect.min_distance_point([0.5,1.5]),0.5)
def test_min_two_sides(self):
assert_almost_equal(self.rect.min_distance_point([2,2]),np.sqrt(2))
def test_max_inside(self):
assert_almost_equal(self.rect.max_distance_point([0.5,0.5]),1/np.sqrt(2))
def test_max_one_side(self):
assert_almost_equal(self.rect.max_distance_point([0.5,1.5]),np.hypot(0.5,1.5))
def test_max_two_sides(self):
assert_almost_equal(self.rect.max_distance_point([2,2]),2*np.sqrt(2))
def test_split(self):
less, greater = self.rect.split(0,0.1)
assert_array_equal(less.maxes,[0.1,1])
assert_array_equal(less.mins,[0,0])
assert_array_equal(greater.maxes,[1,1])
assert_array_equal(greater.mins,[0.1,0])
class Test_rectangle:
def setup_method(self):
self.rect = Rectangle([0, 0], [1, 1])
def test_min_inside(self):
assert_almost_equal(self.rect.min_distance_point([0.5, 0.5]), 0)
def test_min_one_side(self):
assert_almost_equal(self.rect.min_distance_point([0.5, 1.5]), 0.5)
def test_min_two_sides(self):
assert_almost_equal(self.rect.min_distance_point([2, 2]), np.sqrt(2))
def test_max_inside(self):
assert_almost_equal(self.rect.max_distance_point([0.5, 0.5]),
1 / np.sqrt(2))
def test_max_one_side(self):
assert_almost_equal(self.rect.max_distance_point([0.5, 1.5]),
np.hypot(0.5, 1.5))
def test_max_two_sides(self):
assert_almost_equal(self.rect.max_distance_point([2, 2]),
2 * np.sqrt(2))
def test_split(self):
less, greater = self.rect.split(0, 0.1)
assert_array_equal(less.maxes, [0.1, 1])
assert_array_equal(less.mins, [0, 0])
assert_array_equal(greater.maxes, [1, 1])
assert_array_equal(greater.mins, [0.1, 0])
def det_valid(pts,obsts,movObsts,spd):
lastPt = pts[0]
MO = []
for o, spdX, spdY in movObsts:
obst = Rectangle(maxes=o.maxes, mins=o.mins)
MO.append([obst, spdX, spdY])
for pt in pts:
for obst in obsts:
dist = obst.min_distance_point(pt)
if dist <= 0.2:
midPT = [(obst.maxes[0]+obst.mins[0])/2, (obst.maxes[1]+obst.mins[1])/2]
dist = distance.euclidean(midPT, pt)
return -(dist*4)+999
time = distance.euclidean(lastPt, pt)/spd
lastPt = pt
for obst, spdX, spdY in MO:
obst.maxes[0] += spdX*time
obst.mins[0] += spdX*time
obst.maxes[1] += spdY*time
obst.mins[1] += spdY*time
dist = obst.min_distance_point(pt)
if dist <= 0.5:
# print(time.__str__())
midPT = [(obst.maxes[0]+obst.mins[0])/2, (obst.maxes[1]+obst.mins[1])/2]
dist = distance.euclidean(midPT, pt)
return -(dist*4)+999
return 0
