public static void Test_robot_acceleration_inferior_1g()
{
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);
}
MyRobot robot = new MyRobot(WayPoints[0], WayPoints[0].AbsoluteBearing(WayPoints[1]));
List <Point2D> trajectory = robot.CalculateIntermediatePointsBetweenWayPoints(WayPoints, 1.55);
robot.Trajectory = WayPoints;
robot.Speed = 0;
double lastSpeed = 0;
for (int i = 0; i < 100; i++)
{
robot.MoveRobot(new Point2D(robot.Position.X + 100, robot.Position.Y));
(robot.Speed - lastSpeed).Should().BeLessThan(9.81);
lastSpeed = robot.Speed;
}
}
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 Test_robot_should_follow_trajectory()
{
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);
}
MyRobot robot = new MyRobot(WayPoints[0], 0);
List <Point2D> trajectory = robot.CalculateIntermediatePointsBetweenWayPoints(WayPoints, 1.55);
robot.Trajectory = WayPoints;
robot.Speed = 1;
for (int i = 0; i < 100; i++)
{
robot.MoveRobot(new Point2D(robot.Position.X + 1, robot.Position.Y + 1));
}
}