public void TrackPlannerFind360TurnTrackTest()
{
TrackPlanner planner = new TrackPlanner(
locationTolerance: 9, angleTolerance: 19.0d,
positionStep: 10.0d, angleStep: 20.0d,
mapSizeX: 1000.0d, mapSizeY: 1000.0d);
Map map = new Map(1000, 1000);
map.car = new PositionAndOrientation(_x: 500.0d, _y: 500.0d, _angle: 90.0d);
map.parking = new PositionAndOrientation(_x: 500.0d, _y: 500.0d, _angle: 90.0d);
List<PositionAndOrientation> track = planner.PlanTrack(map);
Assert.IsTrue(track.Count > 10); // its really bad assert, but still better than nothing
}
public void TrackPlannerFindSmallForwardTrackTest()
{
TrackPlanner planner = new TrackPlanner(
locationTolerance: 9, angleTolerance: 19.0d,
positionStep: 10.0d, angleStep: 20.0d,
mapSizeX: 1000.0d, mapSizeY: 1000.0d);
Map map = new Map(1000, 1000);
map.car = new PositionAndOrientation(_x: 500.0d, _y: 500.0d, _angle: 90.0d);
map.parking = new PositionAndOrientation(_x: 500.0d, _y: 510.0d, _angle: 90.0d);
List<PositionAndOrientation> track = planner.PlanTrack(map);
Assert.AreEqual(2, track.Count);
}
public void TrackPlannerFind90TurnTrackTest()
{
TrackPlanner planner = new TrackPlanner(
locationTolerance: 9, angleTolerance: 19.0d,
positionStep: 10.0d, angleStep: 20.0d,
mapSizeX: 1000.0d, mapSizeY: 1000.0d);
Map map = new Map(1000, 1000);
map.car = new PositionAndOrientation(_x: 500.0d, _y: 500.0d, _angle: 90.0d);
map.parking = new PositionAndOrientation(_x: 600.0d, _y: 600.0d, _angle: 0.0d);
List<PositionAndOrientation> track = planner.PlanTrack(map);
Assert.IsTrue(track.Count > 10); // coz it not a bad expectation ;)
}
public Form1()
{
TrackPlanner planner = new TrackPlanner(
locationTolerance: 9, angleTolerance: 19.0d,
positionStep: 10.0d, angleStep: 20.0d,
mapSizeX: 1000.0d, mapSizeY: 1000.0d);
Map map = new Map(1000, 1000);
map.car = new PositionAndOrientation(_x: 100.0d, _y: 100.0d, _angle: 90.0d);
map.parking = new PositionAndOrientation(_x: 900.0d, _y: 900.0d, _angle: 90.0d);
List<PositionAndOrientation> track = planner.PlanTrack(map);
Application.Exit();
InitializeComponent();
}
public Form1()
{
TrackPlanner planner = new TrackPlanner(
locationTolerance: 9, angleTolerance: 19.0d,
positionStep: 10.0d, angleStep: 20.0d,
mapSizeX: 1000.0d, mapSizeY: 1000.0d);
Map map = new Map(1000, 1000);
map.car = new PositionAndOrientation(_x: 100.0d, _y: 100.0d, _angle: 90.0d);
map.parking = new PositionAndOrientation(_x: 900.0d, _y: 900.0d, _angle: 90.0d);
List <PositionAndOrientation> track = planner.PlanTrack(map);
Application.Exit();
InitializeComponent();
}
private void button_PrepareTrack_Click(object sender, RoutedEventArgs e)
{
if (map != null)
{
trackPlanner = new TrackPlanner(
locationTolerance: POSITION_STEP - 1, angleTolerance: 9.0d,
positionStep: (int)POSITION_STEP, angleStep: 10.0d,
mapSizeX: map.mapWidth, mapSizeY: map.mapHeight);
trackPlanner.PrepareTracks(map);
DrawTrackPlannerSeenNodes(trackPlanner.GetSeen());
trackPrepared = true;
}
else
{
System.Windows.Forms.MessageBox.Show("Get base map first!");
}
}
public void TrackPlannerObstacleTest()
{
TrackPlanner planner = new TrackPlanner(
locationTolerance: 39, angleTolerance: 19.0d,
positionStep: 40.0, angleStep: 20.0d,
mapSizeX: 1000.0d, mapSizeY: 1000.0d);
Map map = new Map(1000, 1000);
map.car = new PositionAndOrientation(_x: 500.0, _y: 100.0d, _angle: 90.0d);
map.parking = new PositionAndOrientation(_x: 500.0, _y: 900.0, _angle: 90.0d);
map.obstacles.Add(new Rectangle(350, 500, 300, 50));
List<PositionAndOrientation> track = planner.PlanTrack(map);
Assert.IsTrue(track.Count > 20);
}
