def test_large_obstacle_grid(self):
large_grid = DiagonalGrid(
10, 10,
[Coord(1, 8), Coord(5, 7),
Coord(6, 0), Coord(7, 7)])
obstacle_jps = JumpPointSearch(large_grid, diagonal_tie_breaker)
path = obstacle_jps.execute((Coord(0, 0), Coord(9, 9)))
def test_forced_diagonal(self):
obstacle_grid = DiagonalGrid(4, 4, [Coord(2, 1)])
diag_jps = JumpPointSearch(obstacle_grid, diagonal)
expected = Coord(3, 1)
current = JPSNode(Coord(2, 2), Coord(1, 1))
neighbors = set(
diag_jps.forced_neighbors(current.coord, current.direction))
self.assertTrue(expected in neighbors)
def test_diagonal_obstacle(self):
expected = [
JPSNode(Coord(0, 0), None),
JPSNode(Coord(2, 2), Coord(1, 1)),
JPSNode(Coord(3, 3), Coord(1, 1))
]
diagonal_obstacle_grid = DiagonalGrid(4, 4, [Coord(2, 1)])
obstacle_jps = JumpPointSearch(diagonal_obstacle_grid, diagonal)
path = obstacle_jps.execute((Coord(0, 0), Coord(3, 3)))
self.assertEqual(expected, path,
coordinate_mismatch_message(expected, path))
class DiagonalGridTest(unittest.TestCase):
def setUp(self):
self.grid = DiagonalGrid(3, 3, [])
def test_neighbors(self):
coord = Coord(1, 1)
neighbors = set(self.grid.neighbors(coord))
self.assertEqual(
{
Coord(0, 0),
Coord(0, 1),
Coord(1, 0),
Coord(2, 1),
Coord(2, 2),
Coord(0, 2),
Coord(2, 0),
Coord(1, 2)
}, neighbors)
def test_is_adjacent(self):
self.assertFalse(self.grid.is_adjacent(Coord(0, 0), Coord(0, 0)))
self.assertFalse(self.grid.is_adjacent(Coord(0, 0), Coord(1, 2)))
self.assertFalse(self.grid.is_adjacent(Coord(-1, 0), Coord(1, 2)))
self.assertFalse(self.grid.is_adjacent(Coord(-1, 0), Coord(-1, 2)))
self.assertTrue(self.grid.is_adjacent(Coord(0, 0), Coord(0, 1)))
self.assertTrue(self.grid.is_adjacent(Coord(1, 1), Coord(0, 1)))
self.assertTrue(self.grid.is_adjacent(Coord(0, 0), Coord(1, 1)))
def test_init_invalid_obstacles(self):
obstacle_grid = DiagonalGrid(3, 3, [Coord(-1, -1), Coord(5, 5)])
self.assertFalse(Coord(-1, -1) in obstacle_grid.obstacles())
self.assertFalse(Coord(5, 5) in obstacle_grid.obstacles())
def make_diagonal_grid(size: (int, int), obstacle_prob: int) -> DiagonalGrid:
"""
:param size: tuple of max x and max y values
:param obstacle_prob: Probability that an obstacle is on a tile.
:return: AStar grid with randomly generated obstacles
"""
obstacles = []
xsize, ysize = size
for i in range(0, xsize):
for j in range(0, ysize):
if random.randint(0, 100) < obstacle_prob:
obstacles.append(Coord(i, j))
return DiagonalGrid(xsize, ysize, obstacles)
def setUp(self):
self.grid = DiagonalGrid(4, 4, [])
self.obstacle_grid = DiagonalGrid(4, 4, [Coord(0, 2)])
self.jps = JumpPointSearch(self.grid, diagonal)
def test_is_forced_neighbor(self):
forced_neighbor_grid = DiagonalGrid(4, 4, [Coord(1, 2)])
obstacle_jps = JumpPointSearch(forced_neighbor_grid, diagonal)
neighbors = obstacle_jps.has_forced_neighbors(Coord(0, 2), Coord(0, 1))
self.assertTrue(neighbors)
def test_obstacle_execute(self):
obstacle_grid = DiagonalGrid(4, 4, [Coord(0, 2)])
expected = [Coord(0, 0), Coord(0, 1), Coord(1, 0)]
def setUp(self):
self.grid = DiagonalGrid(4, 4, [])
self.jps = JumpPointSearch(self.grid, diagonal)
def setUp(self):
self.grid = DiagonalGrid(3, 3, [])
def test_init_invalid_obstacles(self):
obstacle_grid = DiagonalGrid(3, 3, [Coord(-1, -1), Coord(5, 5)])
self.assertFalse(Coord(-1, -1) in obstacle_grid.obstacles())
self.assertFalse(Coord(5, 5) in obstacle_grid.obstacles())
