public void InitializeDebrisArray(RobotEnvironment env)
{
environment = env;
// Get list of debris Transforms
List <Debris> debrisList = environment.GetDebris();
// Initialize list of DebrisInfos
debrisInfos = new List <DebrisInfo>();
// Add each debris transform and starting values to info list
foreach (Debris d in debrisList)
{
DebrisInfo info = new DebrisInfo();
info.transform = d.transform;
info.lastKnownPosition = Vector3.zero;
info.isVisible = false;
info.distanceFromRobot = Vector3.Distance(d.transform.position, transform.position);
info.lastDistanceFromRobot = info.distanceFromRobot;
debrisInfos.Add(info);
}
UpdateVision();
}
public void TestRobotStartingPoint()
{
bool result = false;
RobotEnvironment environment;
bool[,] mapdimension;
int x = 0;
int y = 0;
environment = new RobotEnvironment(x, y);
mapdimension = environment.GetMapDim();
result = mapdimension[RobotEnvironment.Map + x, RobotEnvironment.Map + y];
Assert.IsTrue(result);
x = -2;
y = -4;
environment = new RobotEnvironment(x, y);
mapdimension = environment.GetMapDim();
result = mapdimension[RobotEnvironment.Map + x, RobotEnvironment.Map + Math.Abs(y)];
Assert.IsTrue(result);
x = -4;
y = 4;
environment = new RobotEnvironment(x, y);
mapdimension = environment.GetMapDim();
result = mapdimension[RobotEnvironment.Map + x, RobotEnvironment.Map + Math.Abs(y)];
Assert.IsFalse(result);
}
public void TestUniquePoints()
{
RobotEnvironment environment;
int x = 10;
int y = 22;
environment = new RobotEnvironment(x, y);
int requiredresult = 4;
char direction = 'E';
int steps = 2;
environment.StartCleaning(direction, steps);
direction = 'N';
steps = 1;
environment.StartCleaning(direction, steps);
Assert.AreEqual(environment.GetUniquePoints(), requiredresult);
environment = new RobotEnvironment(x, y);
requiredresult = 36;
direction = 'S';
steps = 35;
environment.StartCleaning(direction, steps);
direction = 'N';
steps = 30;
environment.StartCleaning(direction, steps);
Assert.AreEqual(environment.GetUniquePoints(), requiredresult);
}
public void TestBoundryLimits()
{
RobotEnvironment environment;
int x = 0;
int y = 0;
environment = new RobotEnvironment(x, y);
char direction = 'E';
int steps = RobotEnvironment.Map + 25;
int required = RobotEnvironment.Map + 1;
environment.StartCleaning(direction, steps);
int result = environment.GetUniquePoints();
Assert.AreEqual(result, required);
}
public void TestHeadSouth()
{
int x = 0;
int y = 0;
int steps = 4;
char direction = 'S';
int requiredresult = 5;
RobotEnvironment environment = new RobotEnvironment(x, y);
environment.StartCleaning(direction, steps);
Assert.AreEqual(environment.GetUniquePoints(), requiredresult);
x = 0;
y = 0;
steps = 2;
direction = 'S';
requiredresult = 1;
environment = new RobotEnvironment(x, y);
environment.StartCleaning(direction, steps);
Assert.AreNotEqual(environment.GetUniquePoints(), requiredresult);
}
