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test_grid_based_sweep_coverage_path_planner.py
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import os
import sys
from unittest import TestCase
sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../PathPlanning/GridBasedSweepCPP")
sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../Mapping/grid_map_lib")
try:
import grid_based_sweep_coverage_path_planner
except:
raise
class TestPlanning(TestCase):
def test_planning1(self):
ox = [0.0, 20.0, 50.0, 100.0, 130.0, 40.0, 0.0]
oy = [0.0, -20.0, 0.0, 30.0, 60.0, 80.0, 0.0]
reso = 5.0
px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.RIGHT,
sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.DOWN,
)
self.assertTrue(len(px) >= 5)
px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.LEFT,
sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.DOWN,
)
self.assertTrue(len(px) >= 5)
px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.RIGHT,
sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.UP,
)
self.assertTrue(len(px) >= 5)
px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.RIGHT,
sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.DOWN,
)
self.assertTrue(len(px) >= 5)
def test_planning2(self):
ox = [0.0, 50.0, 50.0, 0.0, 0.0]
oy = [0.0, 0.0, 30.0, 30.0, 0.0]
reso = 1.3
px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.RIGHT,
sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.DOWN,
)
self.assertTrue(len(px) >= 5)
px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.LEFT,
sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.DOWN,
)
self.assertTrue(len(px) >= 5)
px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.RIGHT,
sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.UP,
)
self.assertTrue(len(px) >= 5)
px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.RIGHT,
sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.DOWN,
)
self.assertTrue(len(px) >= 5)
def test_planning3(self):
ox = [0.0, 20.0, 50.0, 200.0, 130.0, 40.0, 0.0]
oy = [0.0, -80.0, 0.0, 30.0, 60.0, 80.0, 0.0]
reso = 5.1
px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.RIGHT,
sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.DOWN,
)
self.assertTrue(len(px) >= 5)
px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.LEFT,
sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.DOWN,
)
self.assertTrue(len(px) >= 5)
px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.RIGHT,
sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.UP,
)
self.assertTrue(len(px) >= 5)
px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.RIGHT,
sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.DOWN,
)
self.assertTrue(len(px) >= 5)