tests/test_grid_map_lib.py · abel/PythonRobotics

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PythonRobotics

tests

test_grid_map_lib.py

test_grid_map_lib.py 738 Bytes

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Atsushi Sakai authored 2021年01月12日 21:13 +08:00 . Test code clean up (#456)

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from Mapping.grid_map_lib.grid_map_lib import GridMap


def test_position_set():
 grid_map = GridMap(100, 120, 0.5, 10.0, -0.5)

 grid_map.set_value_from_xy_pos(10.1, -1.1, 1.0)
 grid_map.set_value_from_xy_pos(10.1, -0.1, 1.0)
 grid_map.set_value_from_xy_pos(10.1, 1.1, 1.0)
 grid_map.set_value_from_xy_pos(11.1, 0.1, 1.0)
 grid_map.set_value_from_xy_pos(10.1, 0.1, 1.0)
 grid_map.set_value_from_xy_pos(9.1, 0.1, 1.0)


def test_polygon_set():
 ox = [0.0, 20.0, 50.0, 100.0, 130.0, 40.0]
 oy = [0.0, -20.0, 0.0, 30.0, 60.0, 80.0]

 grid_map = GridMap(600, 290, 0.7, 60.0, 30.5)

 grid_map.set_value_from_polygon(ox, oy, 1.0, inside=False)


if __name__ == '__main__':
 conftest.run_this_test(__file__)