def test_od_mstar_multirobot_paths(self):
"""Tests some simple multirobot cases on ODrM*"""
from mstar_test import validate_solution, compute_cost
path = self.find_path(
self.world_descriptor, ((0, 0), (1, 0)), ((1, 0), (0, 0)), 1, 10)
self.assertTrue(validate_solution(path))
self.assertTrue(compute_cost(path) == 4)
path = self.find_path(self.world_descriptor,
((0, 0), (1, 0), (5, 5)),
((1, 0), (0, 0), (6, 6)), 1, 10)
self.assertTrue(validate_solution(path))
self.assertTrue(compute_cost(path) == 6)
# Test a simple three robot collision along edge
path = self.find_path(self.world_descriptor,
((3, 0), (0, 0), (2, 0)),
((0, 0), (3, 0), (5, 0)), 1, 10)
self.assertTrue(validate_solution(path))
# Test with some obstacles
self.world_descriptor[5][0] = 1
path = self.find_path(
self.world_descriptor, ((4, 0), (6, 0)), ((6, 0), (4, 0)), 1, 10)
self.assertTrue(validate_solution(path))
self.assertTrue(compute_cost(path) == 10)
def test_op_decomp_single_robot(self):
"""Tests ODM* on simple single robot cases"""
from mstar_test import validate_solution, compute_cost
path = self.find_path(self.world_descriptor,
((0, 0), ), ((1, 0), ), 1, 10)
self.assertTrue(path == (((0, 0), ), ((1, 0), )))
path = self.find_path(self.world_descriptor,
((0, 0), ), ((1, 1), ), 1, 10)
self.assertTrue(path == (((0, 0), ), ((1, 0), ), ((1, 1), )) or
path == (((0, 0), ), ((0, 1), ), ((1, 1), )))
self.assertTrue(validate_solution(path))
self.world_descriptor[1][0] = 1
path = self.find_path(self.world_descriptor,
((0, 0), ), ((2, 0), ), 1, 10)
self.assertTrue(path == (((0, 0), ), ((0, 1), ),
((1, 1), ), ((2, 1), ), ((2, 0), )))
def test_inflated_map(self):
"""Tests on full maps"""
from mstar_test import validate_solution, compute_cost
if not FULL:
self.skipTest('Skipped map test for brevity')
dat = pickle.load(open('maps/5_40_bots_step_5.map'))
# 281 runs in python, not c
for i in [0, 30, 60, 103, 141, 151, 161, 163, 164, 209, 211, 212, 213,
214, 215, 250, 260, 265, 280, 282, 283, 284, 285, 283, 284,
285, 286, 287, 291, 293, 300, 350, 400, 450, 500, 550]:
print i
d = dat[i]
path = self.find_path(d['obs_map'], d['init_pos'], d['goals'],
3, 10)
py_path = py_find_path(d['obs_map'], d['init_pos'], d['goals'],
3, 10)
self.assertTrue(validate_solution(path))