def init_field(self):
ce = Cell()
ce.set_free()
self.field = [[ce for x in xrange(self.map_width)]
for x in xrange(self.map_width)]
self.segmented_field = [[
self.SEGMENT_MAP_NOT_COLORED for x in xrange(self.map_width)
] for x in xrange(self.map_width)]
def test1(self):
c = Cell()
self.assertTrue(c.is_unknown())
self.assertFalse(c.is_object())
self.assertFalse(c.is_obstacle())
self.assertFalse(c.is_marked())
self.assertFalse(c.is_free())
c.set_obstacle()
self.assertFalse(c.is_unknown())
self.assertFalse(c.is_object())
self.assertTrue(c.is_obstacle())
self.assertFalse(c.is_marked())
self.assertFalse(c.is_free())
self.assertFalse(c.is_blue())
self.assertFalse(c.is_red())
self.assertTrue(c.is_undef(), c.get_color_id())
self.assertTrue(c.get_color() == c.UNDEF)
c.set_blue()
self.assertFalse(c.is_unknown())
self.assertFalse(c.is_object())
self.assertTrue(c.is_obstacle())
self.assertFalse(c.is_marked())
self.assertFalse(c.is_free())
self.assertTrue(c.is_blue())
self.assertFalse(c.is_red())
self.assertFalse(c.is_undef())
c.set_free()
self.assertFalse(c.is_unknown())
self.assertFalse(c.is_object())
self.assertFalse(c.is_obstacle())
self.assertFalse(c.is_marked())
self.assertTrue(c.is_free())
self.assertFalse(c.is_blue())
self.assertFalse(c.is_red())
c.set_object()
self.assertFalse(c.is_unknown())
self.assertTrue(c.is_object())
self.assertFalse(c.is_obstacle())
self.assertFalse(c.is_marked())
self.assertFalse(c.is_free())
self.assertTrue(c.is_blue())
self.assertFalse(c.is_red())
self.assertFalse(c.is_undef())
c.set_mark()
self.assertFalse(c.is_unknown())
self.assertTrue(c.is_object())
self.assertFalse(c.is_obstacle())
self.assertTrue(c.is_marked())
self.assertFalse(c.is_free())
self.assertTrue(c.is_blue())
self.assertFalse(c.is_red())
def test1(self):
c = Cell()
self.assertTrue(c.is_unknown())
self.assertFalse(c.is_object())
self.assertFalse(c.is_obstacle())
self.assertFalse(c.is_marked())
self.assertFalse(c.is_free())
c.set_obstacle()
self.assertFalse(c.is_unknown())
self.assertFalse(c.is_object())
self.assertTrue(c.is_obstacle())
self.assertFalse(c.is_marked())
self.assertFalse(c.is_free())
self.assertFalse(c.is_blue())
self.assertFalse(c.is_red())
self.assertTrue(c.is_undef(), c.get_color_id())
self.assertTrue(c.get_color() == c.UNDEF)
c.set_blue()
self.assertFalse(c.is_unknown())
self.assertFalse(c.is_object())
self.assertTrue(c.is_obstacle())
self.assertFalse(c.is_marked())
self.assertFalse(c.is_free())
self.assertTrue(c.is_blue())
self.assertFalse(c.is_red())
self.assertFalse(c.is_undef())
c.set_free()
self.assertFalse(c.is_unknown())
self.assertFalse(c.is_object())
self.assertFalse(c.is_obstacle())
self.assertFalse(c.is_marked())
self.assertTrue(c.is_free())
self.assertFalse(c.is_blue())
self.assertFalse(c.is_red())
c.set_object()
self.assertFalse(c.is_unknown())
self.assertTrue(c.is_object())
self.assertFalse(c.is_obstacle())
self.assertFalse(c.is_marked())
self.assertFalse(c.is_free())
self.assertTrue(c.is_blue())
self.assertFalse(c.is_red())
self.assertFalse(c.is_undef())
c.set_mark()
self.assertFalse(c.is_unknown())
self.assertTrue(c.is_object())
self.assertFalse(c.is_obstacle())
self.assertTrue(c.is_marked())
self.assertFalse(c.is_free())
self.assertTrue(c.is_blue())
self.assertFalse(c.is_red())
def test_field1():
c = Cell()
c.set_free()
field = [[c for x in xrange(15)] for x in xrange(15)]
field[0][6] = Cell()
field[0][6].set_unknown()
field[0][7] = Cell()
field[0][7].set_unknown()
field[0][8] = Cell()
field[0][8].set_unknown()
field[2][6] = Cell()
field[2][6].set_unknown()
field[2][7] = Cell()
field[2][7].set_unknown()
field[2][8] = Cell()
field[2][8].set_unknown()
return field
def test_field1():
c = Cell()
c.set_free()
field = [[c for x in xrange(15)] for x in xrange(15)]
field[0][6] = Cell()
field[0][6].set_unknown()
field[0][7] = Cell()
field[0][7].set_unknown()
field[0][8] = Cell()
field[0][8].set_unknown()
field[2][6] = Cell()
field[2][6].set_unknown()
field[2][7] = Cell()
field[2][7].set_unknown()
field[2][8] = Cell()
field[2][8].set_unknown()
return field
def test_region_merge(self):
r = Region(1)
r2 = Region(2)
r_c1 = Cell()
r_c1.set_free()
r.cells.append(r_c1)
r.cell_coords.append([0,0])
r.min_x = 0
r.min_y = 0
r.max_x = 0
r.max_y = 0
r2_c1 = Cell()
r2_c1.set_unknown()
r2.cells.append(r2_c1)
r2.cell_coords.append([1,1])
r2.min_x = 0
r2.min_y = 0
r2.max_x = 1
r2.max_y = 1
r.merge_region(r2)
# Check the size of cell lists
self.assertTrue(len(r.cells) == 2)
self.assertTrue(len(r.cell_coords) == 2)
# Check the actual cells
self.assertTrue(r2_c1 in r.cells)
self.assertTrue(r_c1 in r.cells)
self.assertTrue([0,0] in r.cell_coords)
self.assertTrue([1,1] in r.cell_coords)
self.assertEqual(r.min_x,0)
self.assertEqual(r.min_y,0)
self.assertEqual(r.max_x,1)
self.assertEqual(r.max_y,1)
def test_region_merge(self):
r = Region(1)
r2 = Region(2)
r_c1 = Cell()
r_c1.set_free()
r.cells.append(r_c1)
r.cell_coords.append([0, 0])
r.min_x = 0
r.min_y = 0
r.max_x = 0
r.max_y = 0
r2_c1 = Cell()
r2_c1.set_unknown()
r2.cells.append(r2_c1)
r2.cell_coords.append([1, 1])
r2.min_x = 0
r2.min_y = 0
r2.max_x = 1
r2.max_y = 1
r.merge_region(r2)
# Check the size of cell lists
self.assertTrue(len(r.cells) == 2)
self.assertTrue(len(r.cell_coords) == 2)
# Check the actual cells
self.assertTrue(r2_c1 in r.cells)
self.assertTrue(r_c1 in r.cells)
self.assertTrue([0, 0] in r.cell_coords)
self.assertTrue([1, 1] in r.cell_coords)
self.assertEqual(r.min_x, 0)
self.assertEqual(r.min_y, 0)
self.assertEqual(r.max_x, 1)
self.assertEqual(r.max_y, 1)
def make_free_map(self):
c = Cell()
c.set_free()
test_field = [[deepcopy(c) for x in xrange(15)] for y in xrange(15)]
return test_field
def init_field(self):
ce = Cell()
ce.set_free()
self.field = [[ce for x in xrange(self.map_width)] for x in xrange(self.map_width)]
self.segmented_field = [[self.SEGMENT_MAP_NOT_COLORED for x in xrange(self.map_width)] for x in
xrange(self.map_width)]
def make_free_map(self):
c = Cell()
c.set_free()
test_field = [[deepcopy(c) for x in xrange(15)] for y in xrange(15)]
return test_field