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dubins_path
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Update tests

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master
Roman Kretschmer 6 years ago
parent 1b32e76a55
commit 666ff6748a
Signed by: gnxlxnxx
GPG Key ID: E4EAB482427FA3A0
1 changed files with 59 additions and 86 deletions
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145
tests/unit_test.rs
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@ -6,78 +6,63 @@ mod tests {
#[should_panic]
fn test_overlapping_circles_rsl() {
let radius = 0.5;
let test_point = Vector {
origin: Point::new(radius, 0.0),
angle: Angle::zero(),
magnitude: radius,
};
RouteCSC::rsl(test_point).unwrap();
let end_point = Point::new(radius, 0.0);
let end_angle = Angle::zero();
RouteCSC::rsl(radius, end_point, end_angle).unwrap();
}
#[test]
#[should_panic]
fn test_overlapping_circles_lsr() {
let radius = 0.5;
let test_point = Vector {
origin: Point::new(-radius, 0.0),
angle: Angle::zero(),
magnitude: radius,
};
RouteCSC::lsr(test_point).unwrap();
let end_point = Point::new(-radius, 0.0);
let end_angle = Angle::zero();
RouteCSC::lsr(radius, end_point, end_angle).unwrap();
}
#[test]
#[should_panic]
fn test_far_apart_circles_rlr() {
let radius = 0.5;
let test_point = Vector {
origin: Point::new(4.0, 0.0),
angle: Angle::zero(),
magnitude: radius,
};
RouteCCC::rlr(test_point).unwrap();
let end_point = Point::new(7.0 * radius, 0.0);
let end_angle = Angle::zero();
RouteCCC::rlr(radius, end_point, end_angle).unwrap();
}
#[test]
#[should_panic]
fn test_far_apart_circles_lrl() {
let radius = 0.5;
let test_point = Vector {
origin: Point::new(-4.0, 0.0),
angle: Angle::zero(),
magnitude: radius,
};
RouteCCC::rlr(test_point).unwrap();
let end_point = Point::new(-7.0 * radius, 0.0);
let end_angle = Angle::zero();
RouteCCC::rlr(radius, end_point, end_angle).unwrap();
}
#[test]
fn test_points_rsr() {
{
let radius = 0.5;
let test_point = Vector {
origin: Point::new(0.0, 10.0),
angle: Angle::zero(),
magnitude: radius,
};
let end_point = Point::new(0.0, 10.0);
let end_angle = Angle::zero();
let expected_result_rsr = RouteCSC {
start: CircleVector {
start: CirclePath {
center: Point::new(0.5, 0.0),
radius: radius,
angle: Angle::zero(),
},
tangent: Vector {
tangent: StraightPath {
origin: Point::new(0.0, 0.0),
angle: Angle::frac_pi_2(),
magnitude: 10.0,
vector: Vector::from_angle_and_length(Angle::frac_pi_2(), 10.0),
},
end: CircleVector {
end: CirclePath {
center: Point::new(0.5, 10.0),
radius: radius,
angle: Angle::zero(),
},
};
let result_rsr = RouteCSC::rsr(test_point).unwrap();
let result_rsr = RouteCSC::rsr(radius, end_point, end_angle).unwrap();
assert!(result_rsr.start.approx_eq(expected_result_rsr.start));
assert!(result_rsr.tangent.approx_eq(expected_result_rsr.tangent));
@ -89,30 +74,27 @@ mod tests {
fn test_points_rsl() {
{
let radius = 0.5;
let test_point = Vector {
origin: Point::new(0.0, 10.0),
angle: Angle::zero(),
magnitude: radius,
};
let end_point = Point::new(0.0, 10.0);
let end_angle = Angle::zero();
let expected_result_rsl = RouteCSC {
start: CircleVector {
start: CirclePath {
center: Point::new(0.5, 0.0),
radius: radius,
angle: Angle::zero(),
},
tangent: Vector {
tangent: StraightPath {
origin: Point::new(0.0, 0.0),
angle: Angle::frac_pi_2(),
magnitude: 10.0,
vector: Vector::from_angle_and_length(Angle::frac_pi_2(), 10.0),
},
end: CircleVector {
end: CirclePath {
center: Point::new(-0.5, 10.0),
radius: radius,
angle: Angle::zero(),
},
};
let result_rsl = RouteCSC::rsl(test_point).unwrap();
let result_rsl = RouteCSC::rsl(radius, end_point, end_angle).unwrap();
assert!(result_rsl.start.approx_eq(expected_result_rsl.start));
assert!(result_rsl.tangent.approx_eq(expected_result_rsl.tangent));
@ -124,30 +106,27 @@ mod tests {
fn test_points_lsl() {
{
let radius = 0.5;
let test_point = Vector {
origin: Point::new(0.0, 10.0),
angle: Angle::zero(),
magnitude: radius,
};
let end_point = Point::new(0.0, 10.0);
let end_angle = Angle::zero();
let expected_result_lsl = RouteCSC {
start: CircleVector {
start: CirclePath {
center: Point::new(-0.5, 0.0),
radius: radius,
angle: Angle::zero(),
},
tangent: Vector {
tangent: StraightPath {
origin: Point::new(0.0, 0.0),
angle: Angle::frac_pi_2(),
magnitude: 10.0,
vector: Vector::from_angle_and_length(Angle::frac_pi_2(), 10.0),
},
end: CircleVector {
end: CirclePath {
center: Point::new(-0.5, 10.0),
radius: radius,
angle: Angle::zero(),
},
};
let result_lsl = RouteCSC::lsl(test_point).unwrap();
let result_lsl = RouteCSC::lsl(radius, end_point, end_angle).unwrap();
assert!(result_lsl.start.approx_eq(expected_result_lsl.start));
assert!(result_lsl.tangent.approx_eq(expected_result_lsl.tangent));
@ -159,30 +138,27 @@ mod tests {
fn test_point_lsr() {
{
let radius = 0.5;
let test_point = Vector {
origin: Point::new(0.0, 10.0),
angle: Angle::zero(),
magnitude: radius,
};
let end_point = Point::new(0.0, 10.0);
let end_angle = Angle::zero();
let expected_result_lsr = RouteCSC {
start: CircleVector {
start: CirclePath {
center: Point::new(-0.5, 0.0),
radius: radius,
angle: Angle::zero(),
},
tangent: Vector {
tangent: StraightPath {
origin: Point::new(0.0, 0.0),
angle: Angle::frac_pi_2(),
magnitude: 10.0,
vector: Vector::from_angle_and_length(Angle::frac_pi_2(), 10.0),
},
end: CircleVector {
end: CirclePath {
center: Point::new(0.5, 10.0),
radius: radius,
angle: Angle::zero(),
},
};
let result_lsr = RouteCSC::lsr(test_point).unwrap();
let result_lsr = RouteCSC::lsr(radius, end_point, end_angle).unwrap();
assert!(result_lsr.start.approx_eq(expected_result_lsr.start));
assert!(result_lsr.tangent.approx_eq(expected_result_lsr.tangent));
@ -194,30 +170,28 @@ mod tests {
fn test_point_rlr() {
{
let radius = 0.5;
let test_point = Vector {
origin: Point::new(3.0, 0.0),
angle: Angle::pi(),
magnitude: radius,
};
let end_point = Point::new(3.0, 0.0);
let end_angle = Angle::pi();
let expected_result_rlr = RouteCCC {
start: CircleVector {
start: CirclePath {
center: Point::new(0.5, 0.0),
radius: radius,
angle: Angle::pi(),
},
middle: CircleVector {
middle: CirclePath {
center: Point::new(1.5, 0.0),
radius: radius,
angle: Angle::pi(),
},
end: CircleVector {
end: CirclePath {
center: Point::new(2.5, 0.0),
radius: radius,
angle: Angle::pi(),
},
};
let result_rlr = RouteCCC::rlr(test_point).unwrap();
let result_rlr = RouteCCC::rlr(radius, end_point, end_angle).unwrap();
assert!(result_rlr.start.approx_eq(expected_result_rlr.start));
assert!(result_rlr.middle.approx_eq(expected_result_rlr.middle));
@ -229,33 +203,32 @@ mod tests {
fn test_point_lrl() {
{
let radius = 0.5;
let test_point = Vector {
origin: Point::new(-3.0, 0.0),
angle: Angle::pi(),
magnitude: radius,
};
let end_point = Point::new(-3.0, 0.0);
let end_angle = Angle::pi();
let expected_result_lrl = RouteCCC {
start: CircleVector {
start: CirclePath {
center: Point::new(-0.5, 0.0),
radius: radius,
angle: Angle::pi(),
},
middle: CircleVector {
middle: CirclePath {
center: Point::new(-1.5, 0.0),
radius: radius,
angle: Angle::pi(),
},
end: CircleVector {
end: CirclePath {
center: Point::new(-2.5, 0.0),
radius: radius,
angle: Angle::pi(),
},
};
let result_lrl = RouteCCC::lrl(test_point).unwrap();
let result_lrl = RouteCCC::lrl(radius, end_point, end_angle).unwrap();
assert!(result_lrl.start.approx_eq(expected_result_lrl.start));
assert!(result_lrl.middle.approx_eq(expected_result_lrl.middle));
println!("{:?}", result_lrl.end);
assert!(result_lrl.end.approx_eq(expected_result_lrl.end));
}
}

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