def test_wall_blocks_movement_correctly(self, start_point, end_point,
expected_end_point):
shape = rectangle(geometry.Point((0.5, 0.0)),
geometry.Point((0.75, 1.0)))
wall = puddle_world.WallPuddle(shape)
new_end_point = wall.update_transition_end_point(
start_point, end_point)
self.assertPointsAlmostEqual(new_end_point, expected_end_point)
def test_wall_blocks_movement_for_non_convex_shape(self):
# This is a special case that can't be worked into the parameterized test.
# The following shape is a square 'U' shape.
shape = geometry.Polygon(
((0.0, 0.0), (1.0, 0.0), (1.0, 1.0), (0.75, 1.0), (0.75, 0.25),
(0.25, 0.25), (0.25, 1.0), (0.0, 1.0)))
wall = puddle_world.WallPuddle(shape)
# We are stepping across empty space, from one wall boundary to another.
start_point = geometry.Point((0.25, 0.5))
end_point = geometry.Point((0.75, 0.5))
new_end_point = wall.update_transition_end_point(
start_point, end_point)
self.assertEqual(new_end_point, geometry.Point((0.75, 0.5)))
def test_puddle_world_correctly_applies_wall_puddles(self):
pw = puddle_world.PuddleWorld(
puddles=(puddle_world.SlowPuddle(
shape=puddle_world.circle(geometry.Point((0.5, 0.5)), 0.25)),
puddle_world.WallPuddle(
shape=puddle_world.circle(geometry.Point((
0.5, 0.5)), 0.1))),
goal_position=geometry.Point((0.5, 0.5)),
noise=0.0,
thrust=0.5) # A large thrust to step over multiple circles.
start_position = geometry.Point((0.2, 0.5))
transition = pw.transition(start_position, puddle_world.Action.RIGHT)
# We should stop at the inner wall puddle.
expected_end_position = geometry.Point((0.4, 0.5))
self.assertEqual(transition.state, start_position)
self.assertPointsAlmostEqual(transition.next_state,
expected_end_position)
HYDROGEN = (
puddle_world.SlowPuddle(
puddle_world.circle(geometry.Point((0.5, 0.5)), 0.3)),
puddle_world.SlowPuddle(
puddle_world.circle(geometry.Point((0.5, 0.5)), 0.15)),
)
SUTTON = (
puddle_world.SlowPuddle(
geometry.LineString([(0.1, 0.75), (0.45, 0.75)]).buffer(0.1)),
puddle_world.SlowPuddle(
geometry.LineString([(0.45, 0.4), (0.45, 0.8)]).buffer(0.1)),
)
TWO_ROOM = (
puddle_world.WallPuddle(_TOP_WALL),
puddle_world.WallPuddle(_BOTTOM_WALL),
)
TWO_ROOM_SLOW = (
puddle_world.SlowPuddle(_TOP_WALL),
puddle_world.SlowPuddle(_BOTTOM_WALL),
)
# LINT.IfChange(arena_names)
_ARENAS = frozendict.frozendict({
'empty': EMPTY,
'hydrogen': HYDROGEN,
'sutton': SUTTON,
'two_room': TWO_ROOM,
'two_room_slow': TWO_ROOM_SLOW,