complete_turn_path_obj_test.py

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#==============================================================================
#     Copyright (C) 2021-2024 Wageningen University - All Rights Reserved
#                      Author: Gonzalo Mier
#                         BSD-3 License
#==============================================================================
 
import pytest
import fields2cover as f2c
import math
 
def near(a, b, error = 1e-7):
  assert abs(a - b) < error
 
 
def test_fields2cover_obj_complete_turn_path_obj_computeCost():
  swath1 = f2c.Swath(f2c.LineString(f2c.VectorPoint(
      [f2c.Point(0.0, 0.0), f2c.Point(0.0, 1.0)])));
  swath2 = f2c.Swath(f2c.LineString(f2c.VectorPoint(
      [f2c.Point(1.0, 1.0), f2c.Point(1.0, 0.0)])));
  swaths1 = f2c.Swaths();
  [swaths1.push_back(i) for i in [swath1]]
  swaths2 = f2c.Swaths();
  [swaths2.push_back(i) for i in [swath2]]
 
  robot = f2c.Robot(2.1, 2.5);
  robot.setMaxCurv(2.0);
 
  length = f2c.OBJ_CompleteTurnPathObj_Dubins(robot);
 
  # Precision is quite low so this is just checking a prediction is done
  near(length.computeCost(swath1, swath2), math.pi/2, 0.1);
 
def test_fields2cover_complete_pred_turn_path_obj_paramsCheck():
  robot = f2c.Robot(2.1, 2.5);
  objective = f2c.OBJ_CompleteTurnPathObj_Dubins(robot);
  assert not (objective.isMaximizing());
  assert (objective.isMinimizing());