Exemplos de event_to_obstruction_direction em Python

Exemplo n.º 1

Arquivo: test_obstacle_direction.py Projeto: davesnowdon/nao-wanderer

 def test_obstacle_dead_ahead(self):
     sensors = Sensors({"LeftBumper": False, "RightBumper": False, "LeftSonar": 0.3, "RightSonar": 0.3})
     ev = ObstacleDetected("LeftSonar", sensors, [0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
     (tmin, tmax) = event_to_obstruction_direction(ev)
     print "tmin = " + str(tmin) + ", tmax = " + str(tmax)
     self.assertGreaterEqual(tmin, math.pi / 2, "Must turn at least 90 degrees right")
     self.assertLessEqual(tmax, math.pi * 1.5, "Must turn at least 90 degrees left")

Exemplo n.º 2

Arquivo: test_obstacle_direction.py Projeto: thuyminhtran/nao-wanderer

 def test_obstacle_closer_on_left(self):
     sensors = Sensors({
         'LeftBumper': False,
         'RightBumper': False,
         'LeftSonar': 0.3,
         'RightSonar': 0.5
     })
     ev = ObstacleDetected('LeftSonar', sensors,
                           [0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
     (tmin, tmax) = event_to_obstruction_direction(ev)
     print "tmin = " + str(tmin) + ", tmax = " + str(tmax)
     self.assertLess(tmin, 0.0, "Must turn to right")

Exemplo n.º 3

Arquivo: test_obstacle_direction.py Projeto: thuyminhtran/nao-wanderer

 def test_obstacle_on_right(self):
     sensors = Sensors({
         'LeftBumper': False,
         'RightBumper': False,
         'LeftSonar': 2.5,
         'RightSonar': 0.3
     })
     ev = ObstacleDetected('RightSonar', sensors,
                           [0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
     (tmin, tmax) = event_to_obstruction_direction(ev)
     print "tmin = " + str(tmin) + ", tmax = " + str(tmax)
     self.assertGreater(tmin, 0.0, "Must turn to left")

Exemplo n.º 4

Arquivo: test_obstacle_direction.py Projeto: thuyminhtran/nao-wanderer

 def test_obstacle_dead_ahead(self):
     sensors = Sensors({
         'LeftBumper': False,
         'RightBumper': False,
         'LeftSonar': 0.3,
         'RightSonar': 0.3
     })
     ev = ObstacleDetected('LeftSonar', sensors,
                           [0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
     (tmin, tmax) = event_to_obstruction_direction(ev)
     print "tmin = " + str(tmin) + ", tmax = " + str(tmax)
     self.assertGreaterEqual(tmin, math.pi / 2,
                             "Must turn at least 90 degrees right")
     self.assertLessEqual(tmax, math.pi * 1.5,
                          "Must turn at least 90 degrees left")

Exemplo n.º 5

Arquivo: test_obstacle_direction.py Projeto: davesnowdon/nao-wanderer

 def test_obstacle_closer_on_left(self):
     sensors = Sensors({"LeftBumper": False, "RightBumper": False, "LeftSonar": 0.3, "RightSonar": 0.5})
     ev = ObstacleDetected("LeftSonar", sensors, [0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
     (tmin, tmax) = event_to_obstruction_direction(ev)
     print "tmin = " + str(tmin) + ", tmax = " + str(tmax)
     self.assertLess(tmin, 0.0, "Must turn to right")

Exemplo n.º 6

Arquivo: test_obstacle_direction.py Projeto: davesnowdon/nao-wanderer

 def test_obstacle_on_right(self):
     sensors = Sensors({"LeftBumper": False, "RightBumper": False, "LeftSonar": 2.5, "RightSonar": 0.3})
     ev = ObstacleDetected("RightSonar", sensors, [0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
     (tmin, tmax) = event_to_obstruction_direction(ev)
     print "tmin = " + str(tmin) + ", tmax = " + str(tmax)
     self.assertGreater(tmin, 0.0, "Must turn to left")