tests package¶
Submodules¶
tests.test_config module¶
Unit test for Config.py
- class tests.test_config.TestConfig(methodName='runTest')¶
Bases:
unittest.case.TestCaseA TestCase class for testing the Config class.
- setUp():
Initializes the Config object for each test method.
- test_starting_home_location():
Tests the starting home location functionality by plotting the location start, location end, and polygon borders and obstacles using the Config class methods.
- test_wgs_starting_home_location():
Tests the WGS starting home location functionality by plotting the location start, location end, and polygon borders and obstacles using the Config class methods.
- setUp() None¶
Initializes the Config object for each test method.
- test_starting_home_location()¶
Tests the starting home location functionality by plotting the location start, location end, and polygon borders and obstacles using the Config class methods.
- test_wgs_starting_home_location()¶
Tests the WGS starting home location functionality by plotting the location start, location end, and polygon borders and obstacles using the Config class methods.
tests.test_field module¶
This module tests the field object.
- class tests.test_field.TestField(methodName='runTest')¶
Bases:
unittest.case.TestCaseA TestCase class for testing the Field class.
- setUp() None¶
Initializes the Field object for each test method.
- test_border_contains() None¶
Test if border contains a point.
- Raises
AssertionError – If the point is not within the border polygon.
Examples
>>> self.f.border_contains([1e6, 1e6]) False
>>> self.f.border_contains([0, 0]) True
- Returns
None
- test_border_in_the_way() None¶
Test if border is in the way of a line.
- Raises
AssertionError – If the line is not colliding with the border.
Examples
>>> self.f.is_border_in_the_way([0, 0], [5000, 0]) True
>>> self.f.is_border_in_the_way([0, 0], [5000, 10]) True
>>> self.f.is_border_in_the_way([0, 0], [1000, 1000]) False
- Returns
None
- test_empty_grids() None¶
Test if it generates empty waypoint.
- Raises
AssertionError – If the waypoint is empty.
- test_get_ind_from_locations() None¶
Test waypoint interpolation works. Given random location, it should return indices for the nearest locations.
- Raises
AssertionError – If the waypoint is not correct.
Examples
>>> self.f.get_ind_from_location([0.5, 0.5]) 10
>>> self.f.get_ind_from_location([[0.5, 1.5], [1.5, 1.5], [2.5, 1.5]]) [11, 13, 15]
- Returns
None
- test_get_locations_from_ind() None¶
Test if it returns the correct waypoint given the index.
- Raises
AssertionError – If the waypoint is not correct.
Examples
>>> self.f.get_location_from_ind(10) np.array([ 0.5, 0.5])
>>> self.f.get_location_from_ind([11, 13, 15]) np.array([[ 0.5, 1.5], [ 1.5, 1.5], [ 2.5, 1.5]])
- Returns
None
- test_get_neighbours() None¶
Test if neighbours are within a certain distance.
- Raises
AssertionError – If the distance is not within the threshold.
Examples
>>> self.f.get_neighbours(0) [1, 2, 3, 4, 5, 6, 7, 8]
>>> self.f.get_neighbours(222) [221, 223, 224, 225, 226, 227] # filtered to avoid collisions.
- Returns
None
- test_illegal_grids() None¶
Test if any waypoints are not within the border polygon or colliding with obstacles.
- Raises
AssertionError – If the waypoint is not within the border polygon or colliding with obstacles.