def test_record_best_path(map_40):
planner = PathPlanner(map_40, 5, 34)
planner.gScore = {5: 1, 16: 3, 14: 3}
current_node = 5
neighbor_node = 16
planner.record_best_path_to(current_node, neighbor_node)
came_from_node = planner.cameFrom[neighbor_node]
g_score = planner.gScore[neighbor_node]
f_score = planner.fScore[neighbor_node]
assert current_node == came_from_node
assert 1.050241214663511 == g_score
assert 1.57541988984527 == f_score
def test_get_neighbors_for_current_node(map_40):
planner = PathPlanner(map_40, 5, 34)
planner.openSet = {32, 16, 14}
planner.fScore = {32: 10, 16: 5, 14: 7}
expected_neighbors = [5, 14, 37, 30]
current_node = planner.get_current_node()
neighbors = planner.get_neighbors(current_node)
assert expected_neighbors == neighbors
def test_get_current_node(map_40):
planner = PathPlanner(map_40, 14, 14)
lowest_value = 3
planner.openSet = {5, 1, lowest_value}
planner.fScore = {1: 30, 2: 5, 3: 25, 5: 44}
assert planner.get_current_node() == lowest_value
def test_plan_path_with_disconnected_nodes():
map_10 = load_map_10()
planner = PathPlanner(map_10, start=1, goal=9)
assert planner.path is None
def test_plan_path(map_40, start, goal, expected_path):
planner = PathPlanner(map_40, start, goal)
assert expected_path == planner.path
def test_set_new_goal(map_40):
planner = PathPlanner(map_40, 15, 25)
new_goal = 1
planner.set_goal(new_goal)
assert new_goal == planner.goal
def test_set_new_start(map_40):
planner = PathPlanner(map_40, 37, 14)
new_start = 31
planner.set_start(new_start)
assert new_start == planner.start
assert planner.goal is None
def test_initial_fscore_sets_infinity_for_all_except_start_node(map_40):
planner = PathPlanner(map_40, 1, 39)
f_score = planner.create_fScore()
for score in f_score:
if score != 1:
assert f_score[score] == math.inf
def test_initial_gscore_sets_infinity_for_all_except_start_node(map_40):
planner = PathPlanner(map_40, 2, 39)
g_score = planner.create_gScore()
for score in g_score:
if score != 2:
assert g_score[score] == math.inf
def test_heuristic_cost_estimate(map_40):
planner = PathPlanner(map_40, 5, 34)
h_score = planner.heuristic_cost_estimate(5)
assert 0.574734871592805 == h_score
def test_create_open_set_with_start_node(map_40):
planner = PathPlanner(map_40, 5, 34)
open_set = planner.create_openSet()
assert {5} == open_set
def test_get_tentative_gscore(map_40):
planner = PathPlanner(map_40, 5, 34)
planner.gScore = {5: 2, 16: 3, 14: 3}
tentative_gscore = planner.get_tentative_gScore(5, 16)
assert 2.05024121466351104 == tentative_gscore
def test_distance_computation(map_40):
planner = PathPlanner(map_40, 5, 34)
node_16_closest = planner.distance(5, 16)
node_14_mid_range = planner.distance(5, 14)
node_38_farthest = planner.distance(5, 38)
assert node_16_closest < node_14_mid_range < node_38_farthest
def test_get_gscore(map_40):
planner = PathPlanner(map_40, 5, 34)
planner.gScore = {32: 2, 16: 3, 14: 3}
gscore = planner.get_gScore(16)
assert 3 == gscore
def test_create_empty_came_from(map_40):
planner = PathPlanner(map_40, 5, 34)
came_from = planner.create_cameFrom()
assert {} == came_from
def test_initial_gscore_sets_zero_for_start_node(map_40):
planner = PathPlanner(map_40, 1, 34)
g_score = planner.create_gScore()
assert 0 == g_score[1]
def test_calculate_fscore(map_40):
planner = PathPlanner(map_40, 5, 34)
planner.gScore = {5: 1, 16: 3, 14: 3}
f_score = planner.calculate_fScore(5)
assert 1.574734871592805 == f_score
def test_initial_fscore_sets_zero_for_start_node(map_40):
planner = PathPlanner(map_40, 3, 11)
f_score = planner.create_fScore()
assert 0 == f_score[3]
def test_plan_path_with_invalid_goal_raises_value_error(map_40):
invalid_goal = -1
with pytest.raises(ValueError, match=r".*goal node.*"):
PathPlanner(map_40, start=21, goal=invalid_goal)
def test_set_new_map(map_40):
planner = PathPlanner(load_map_10(), 7, 3)
planner.set_map(map_40)
assert map_40 == planner.map
assert planner.start is None
assert planner.goal is None
def test_plan_path_with_invalid_start_raises_value_error(map_40):
invalid_start = 40
with pytest.raises(ValueError, match=r".*start node.*"):
PathPlanner(map_40, start=invalid_start, goal=21)
def test_create_empty_closed_set(map_40):
planner = PathPlanner(map_40, 5, 34)
closed_set = planner.create_closedSet()
assert set() == closed_set
def test_plan_path_with_missing_goal_on_map_10_raises_value_error():
map_10 = load_map_10()
with pytest.raises(ValueError, match=r".*goal node.*"):
PathPlanner(map_10, start=10, goal=20)
def test_open_set_is_not_empty(map_40):
planner = PathPlanner(map_40, 37, 14)
assert not planner.is_open_empty()
def test_run_search_with_missing_map_raises_value_error():
planner = PathPlanner(M=None, start=15, goal=16)
with pytest.raises(ValueError, match=r".*create map.*"):
planner.run_search()
def test_plan_path_with_missing_start_or_goal(map_40, start, goal):
planner = PathPlanner(map_40, start, goal)
assert planner.path is None
def test_create_open_set_raises_value_error(map_40):
planner = PathPlanner(map_40, None, 34)
with pytest.raises(ValueError):
planner.create_openSet()
def test_plan_path_with_missing_map():
planner = PathPlanner(M=None, start=0, goal=39)
assert planner.path is None
def test_open_set_is_empty(map_40):
planner = PathPlanner(map_40, 37, 14)
planner.openSet.clear()
assert planner.is_open_empty()