def test__ConvertWorldImageToWeightedMatrix_EmptyGrid(self):
Maze = MazeFacade(DIYMazeParser(8))
Provider = UnifiedWorldImageProvider(maze=Maze, config=DictionaryConfigProvider())
weights = {NodeStateEnum.Clear: 2,
NodeStateEnum.Obs: np.inf,
NodeStateEnum.UnExplored: 1,
NodeStateEnum.Ant: np.inf}
Planner = AntPathPlanner(safetyRadius=2, cellTypeWeights=weights, stabilityFactor=1)
StartPosition = Position(0, 0)
mazeMatrix = Maze.GetMatrix()
manuallyAdjustedMaze = np.where(mazeMatrix == 1, NodeStateEnum.UnExplored, NodeStateEnum.Clear)
manuallyAdjustedMaze[0, 0] = NodeStateEnum.Clear
singleAntWorldImage = SimpleSingleAntWorldImage(manuallyAdjustedMaze, {})
result = Planner._AntPathPlanner__ConvertWorldImageToWeightedMatrix(StartPosition, singleAntWorldImage)
Width, Height = result.shape
for i in range(0, Width):
for j in range(0, Height):
if i == 0 and j == 0:
self.assertEqual(result[i][j], weights[NodeStateEnum.Clear])
else:
self.assertEqual(result[i][j], weights[NodeStateEnum.UnExplored])
def test__CalculatePathToDestination_UniformGrid(self):
Maze = MazeFacade(DIYMazeParser(8))
Provider = UnifiedWorldImageProvider(maze=Maze, config=DictionaryConfigProvider())
weights = {NodeStateEnum.Clear: 2,
NodeStateEnum.Obs: np.inf,
NodeStateEnum.UnExplored: 1,
NodeStateEnum.Ant: np.inf}
Planner = AntPathPlanner(safetyRadius=2, cellTypeWeights=weights, stabilityFactor=1)
StartPosition = Position(0, 0)
mazeMatrix = Maze.GetMatrix()
manuallyAdjustedMaze = np.where(mazeMatrix == 1, NodeStateEnum.UnExplored, NodeStateEnum.Clear)
manuallyAdjustedMaze[0, 0] = NodeStateEnum.Clear
singleAntWorldImage = SimpleSingleAntWorldImage(manuallyAdjustedMaze, {})
weightedMatrix = Planner._AntPathPlanner__ConvertWorldImageToWeightedMatrix(StartPosition, singleAntWorldImage)
pathMatrix = Dijkstra(weightedMatrix, StartPosition)
resultRoute = Planner._AntPathPlanner__CalculatePathToDestination(StartPosition, Position(4, 4), pathMatrix)
weightSum = 0
for position in resultRoute:
weightSum += weightedMatrix[position.X][position.Y]
self.assertEqual(pathMatrix[position.X][position.Y], weightSum)
def printRoute(route):
for position in route:
print(f'[{position.X}, {position.Y}] ')
def test_MazeFacade_NotEmpty(self):
mazeFacade = MazeFacade(self.__mazeparser)
self.assertTrue(mazeFacade.GetMatrix().any())