public static void TestCalculIntermediatePoint()
{
Random rand;
double x1, y1, x2, y2;
rand = new Random();
x1 = rand.NextDouble();
y1 = rand.NextDouble();
x2 = rand.NextDouble();
y2 = rand.NextDouble();
Point2D orig = new Point2D(x1, y1);
Point2D dest = new Point2D(x2, y2);
double angle = orig.AbsoluteBearing(dest);
Robot r = new Robot(orig);
int nbPoints = rand.Next(3, 10);
List <Point2D> intermediatePoints = r.CalculateIntermediatePointsBetween2Points(orig, dest, nbPoints);
intermediatePoints.Should().NotBeNullOrEmpty();
intermediatePoints.Count.Should().Be(nbPoints);
intermediatePoints.Should().NotContainNulls();
intermediatePoints.Should().NotContain(orig);
intermediatePoints.Should().NotContain(dest);
double distanceTot = orig.Norm(dest);
for (int i = 0; i < nbPoints; i++)
{
orig.AbsoluteBearing(intermediatePoints[i]).Should().BeApproximately(angle, 0.001);
}
double distCumul = 0;
intermediatePoints.Insert(0, orig);
intermediatePoints.Add(dest);
for (int i = 0; i < nbPoints + 1; i++)
{
double distance = intermediatePoints[i].Norm(intermediatePoints[i + 1]);
distCumul += distance;
}
distCumul.Should().BeApproximately(distanceTot, 0.0001);
// Check equidistance of points
for (int i = 0; i < nbPoints; i++)
{
intermediatePoints[i].Norm(intermediatePoints[i + 1]).Should().BeApproximately(intermediatePoints[i + 1].Norm(intermediatePoints[i + 2]), 0.0001);
}
}
public static void TestBearingShouldMakeYouMoveToRightPosition()
{
Random rand;
double x1, y1, x2, y2;
rand = new Random();
x1 = rand.NextDouble();
y1 = rand.NextDouble();
x2 = rand.NextDouble();
y2 = rand.NextDouble();
Point2D orig = new Point2D(x1, y1);
Point2D dest = new Point2D(x2, y2);
double angle = orig.AbsoluteBearing(dest);
MyRobot r = new MyRobot(orig, angle);
double distance = orig.Norm(dest);
r.MoveRobot(r.CalculateRobotNextPositionPolar(orig, angle, distance));
r.Position.X.Should().BeApproximately(x2, 0.001);
r.Position.Y.Should().BeApproximately(y2, 0.001);
}
public static void TestBearingShouldBeWithinMinusPIPlusPI()
{
Random rand;
double x1, y1, x2, y2;
rand = new Random();
x1 = rand.NextDouble();
y1 = rand.NextDouble();
x2 = rand.NextDouble();
y2 = rand.NextDouble();
Point2D orig = new Point2D(x1, y1);
Point2D dest = new Point2D(x2, y2);
double angle = orig.AbsoluteBearing(dest);
angle.Should().BeInRange(0, 2 * Math.PI);
}
public static void TestCalculIntermediatePointsWayPoints()
{
Random rand;
double x, y;
rand = new Random();
int numberWayPoints = rand.Next(5, 10);
List <Point2D> WayPoints = new List <Point2D>();
for (int i = 0; i < numberWayPoints; i++)
{
x = rand.NextDouble() * 10000;
y = rand.NextDouble() * 10000;
Point2D wayPoint = new Point2D(x, y);
WayPoints.Add(wayPoint);
}
Robot r = new Robot(WayPoints[0]);
double distanceBetweenPoints = rand.NextDouble() * 100 + 0.05;
List <Point2D> intermediatePoints = r.CalculateIntermediatePointsBetweenWayPoints(WayPoints, distanceBetweenPoints);
intermediatePoints.Should().NotBeNullOrEmpty();
intermediatePoints.Should().NotContainNulls();
intermediatePoints.Count.Should().BeGreaterThan(WayPoints.Count);
double totDistanceInterpPoints = 0;
double totDistanceWayPoints = 0;
for (int i = 0; i < WayPoints.Count - 1; i++)
{
totDistanceWayPoints += WayPoints[i].Norm(WayPoints[i + 1]);
}
double calculatedBetweenPoints1 = 0, calculatedBetweenPoints2 = 0;
Point2D LastWaypoint = WayPoints[0];
int intermediatePointNext = 0;
for (int i = 1; i < intermediatePoints.Count - 1; i++)
{
calculatedBetweenPoints1 = intermediatePoints[i - 1].Norm(intermediatePoints[i]);
calculatedBetweenPoints2 = intermediatePoints[i].Norm(intermediatePoints[i + 1]);
if (WayPoints.Contains(intermediatePoints[i]))
{
calculatedBetweenPoints1 += calculatedBetweenPoints2;
i++;
LastWaypoint = intermediatePoints[i];
intermediatePointNext++;
}
else
{
LastWaypoint.AbsoluteBearing(intermediatePoints[i]).Should().BeApproximately(LastWaypoint.AbsoluteBearing(WayPoints[intermediatePointNext + 1]), 0.001);
}
calculatedBetweenPoints1.Should().BeInRange(distanceBetweenPoints - 0.0001, distanceBetweenPoints + 0.0001);
totDistanceInterpPoints += calculatedBetweenPoints1;
}
totDistanceInterpPoints += calculatedBetweenPoints2;
totDistanceInterpPoints.Should().BeApproximately(totDistanceWayPoints, 0.01);
}
