def __init__(self):
Localisation.__init__(self)
self.epsilon = 500000
self.centreCamera = 800
self.angleCamera = 22.5
self.xIndex = 0
self.yIndex = 1
def __init__(self):
Localisation.__init__(self)
self.minimumPerimetreRobot = 300
self.maximumPerimetreRobot = 750
self.nbreCote = 4
self.basSV_Mauve = 90
self.basSV_Orange = 130
self.hauteurTable = 180
self.hauteurRobot = 35
self.centreCameraX = 800
self.centreCameraY = 600
self.angleDemiCamera = 22.5
self.mauve = np.uint8([[[255,0,165]]])
self.orange = np.uint8([[[40,127,252]]])
self.hsv_mauve = cv2.cvtColor(self.mauve,cv2.COLOR_BGR2HSV)
self.hsv_orange = cv2.cvtColor(self.orange,cv2.COLOR_BGR2HSV)
self.bas_mauve = np.array([self.hsv_mauve.item(0) - self.deltaHue, self.basSV_Mauve, self.basSV_Mauve])
self.bas_orange = np.array([self.hsv_orange.item(0) - self.deltaHue, self.basSV_iles, self.basSV_Orange])
self.haut_mauve = np.array([self.hsv_mauve.item(0) + self.deltaHue, self.hautSV_iles, self.hautSV_iles])
self.haut_orange = np.array([self.hsv_orange.item(0) + self.deltaHue, self.hautSV_iles, self.hautSV_iles])
def __init__(self):
Localisation.__init__(self)
self.hsv_rougeMinimum = 150
self.hsv_rougeMaximum = 179
self.basSVRouge = 100
self.bleu = np.uint8([[[255,255,0]]])
self.hsv_bleu = cv2.cvtColor(self.bleu,cv2.COLOR_BGR2HSV)
self.nombreCoteTriangle = 3
self.nombreCoteCarre = 4
self.nombreCotePentagone = 5
self.bas_bleu = np.array([self.hsv_bleu.item(0) - self.deltaHue, self.basSV_iles, self.basSV_iles])
self.bas_rouge = np.array([self.hsv_rougeMinimum, int(self.basSVRouge * 1.5), self.basSVRouge])
self.haut_bleu = np.array([self.hsv_bleu.item(0) + self.deltaHue, self.hautSV_iles, self.hautSV_iles])
self.haut_rouge = np.array([self.hsv_rougeMaximum, self.hautSV_iles, self.hautSV_iles])
def setUp(self):
self.localisation = Localisation()
self.centreX = 0
self.angle = 180
self.pointDeCroisement = (20, 20)
self.positionXRobot = 0
self.positionYRobot = 0
self.origine1 = (20, 0)
self.fin1 = (20, 40)
self.origine2 = (10, 0)
self.fin2 = (10, 40)
self.origine3 = (10, 20)
self.fin3 = (30, 20)
self.distance = 100
class TestUnitaire_Localisation(unittest.TestCase):
localisation = Localisation()
centreX = 0
angle = 180
pointDeCroisement = (20, 20)
positionXRobot = 0
positionYRobot = 0
origine1 = (20, 0)
fin1 = (20, 40)
origine2 = (10, 0)
fin2 = (10, 40)
origine3 = (10, 20)
fin3 = (30, 20)
distance = 100
def setUp(self):
self.localisation = Localisation()
self.centreX = 0
self.angle = 180
self.pointDeCroisement = (20, 20)
self.positionXRobot = 0
self.positionYRobot = 0
self.origine1 = (20, 0)
self.fin1 = (20, 40)
self.origine2 = (10, 0)
self.fin2 = (10, 40)
self.origine3 = (10, 20)
self.fin3 = (30, 20)
self.distance = 100
def tearDown(self):
pass
def test_recupererAngleRetourneLeBonAngle(self):
angleCalcule = self.localisation.recupererAngle(self.centreX)
self.assertEqual(angleCalcule, -22.5)
def test_recupererPositionXAvecAngleRetourneLaBonnePosition(self):
positionX = self.localisation.recupererPositionXAvecAngle(self.angle, self.positionXRobot, self.distance)
self.assertEqual(positionX, -100.0)
def test_recupererPositionYAvecAngleRetourneLaBonnePosition(self):
positionY = self.localisation.recupererPositionYAvecAngle(self.angle, self.positionYRobot, self.distance)
self.assertEqual(int(round(positionY)), 0)
def test_calculerDistanceDuRobotRetourneLaBonneDistance(self):
distanceRobot = self.localisation.calculerDistanceDuRobot(self.pointDeCroisement, self.positionXRobot,
self.positionYRobot)
self.assertEqual(distanceRobot, sqrt(800))
def test_trouverCroisementEntreDeuxSegmentsParallelesRetourneFalseEtLePointOrigine(self):
sontCroisees = self.localisation.trouverCroisement(self.origine1, self.fin1, self.origine2, self.fin2)
self.assertEqual(sontCroisees, (False, (0, 0)))
def test_trouverCroisementEntreDeuxSegmentsNonParallelesRetourneTrueEtLePointDeCroisement(self):
sontCroisees = self.localisation.trouverCroisement(self.origine1, self.fin1, self.origine3, self.fin3)
self.assertEqual(sontCroisees, (True, (20, 20)))
def __init__(self):
Localisation.__init__(self)
self.minimumPerimetreRepere = 1000
self.maximumPerimetreRepere = 4000
self.coteEnCM = 66