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RrtPlannerTests.m
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RrtPlannerTests.m
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%> Tests for the RrtPlanner class
classdef RrtPlannerTests < TestCase % You must have mlUnit_2008a for this to work properly
methods
%% testRrtPlannerNoParam
function testRrtPlannerNoParam(self)
rrt = RrtPlanner();
self.assertEquals(isa(rrt,'RrtPlanner'),1);
delete(rrt);
end
%% testRrtPlannerTreesMax
function testRrtPlannerTreesMax(self)
treesMax = 27;
rrt = RrtPlanner(treesMax);
self.assertEquals(rrt.treesMax == treesMax,1);
delete(rrt);
end
%% testRrtPlannerTreesMaxSeedsPerAxis
function testRrtPlannerTreesMaxSeedsPerAxis(self)
treesMax = 27;
seedsPerAxis = 4;
rrt = RrtPlanner(treesMax,seedsPerAxis);
self.assertEquals(rrt.treesMax == treesMax,1);
self.assertEquals(rrt.seedsPerAxis == floor(power(treesMax-2,1/3)),1);
floor(power(treesMax-2,1/3));
delete(rrt);
end
%% testRrtPlannerTreesMaxSeedsPerAxisWalls
function testRrtPlannerTreesMaxSeedsPerAxisWalls(self)
treesMax = 28;
seedsPerAxis = 5;
wallCount = 6;
rrt = RrtPlanner(treesMax,seedsPerAxis,wallCount);
self.assertEquals(rrt.treesMax == treesMax,1);
self.assertEquals(rrt.seedsPerAxis == floor(power(treesMax-2,1/3)),1);
self.assertEquals(rrt.wallCount == wallCount,1);
self.assertEquals(size(rrt.obs,1) == 4 && size(rrt.obs,2) == 3 && 0 < size(rrt.obs,3) ,1);
self.assertEquals(size(rrt.rrt,2) == treesMax,1);
delete(rrt);
end
%% testRrtPlannerTreesMaxSeedsPerAxisObstacleFile
function testRrtPlannerTreesMaxSeedsPerAxisObstacleFile(self)
treesMax = 28;
seedsPerAxis = 5;
obstacleFilename = 'obstacles.txt';
rrt = RrtPlanner(treesMax,seedsPerAxis,obstacleFilename);
self.assertEquals(rrt.treesMax == treesMax,1);
self.assertEquals(rrt.seedsPerAxis == floor(power(treesMax-2,1/3)),1);
self.assertEquals(size(rrt.obs,1) == 4 && size(rrt.obs,2) == 3 && 0 < size(rrt.obs,3) ,1);
self.assertEquals(strcmp(rrt.obstacleFilename,obstacleFilename),1);
delete(rrt);
end
%% testSetStartAndGoal
function testSetStartAndGoal(self)
rrt = RrtPlanner();
rrt.SetStart([0.1,0.1,0.1]);
rrt.SetGoal([0.2,0.2,0.2]);
self.assertEquals(all(rrt.start == 0.1),1);
self.assertEquals(all(rrt.goal == 0.2),1);
delete(rrt);
end
%% testSetAvoidObstacles
function testSetAvoidObstacles(self)
rrt = RrtPlanner();
rrt.SetAvoidObstacles();
self.assertEquals(rrt.avoidObstacles,1);
rrt.SetAvoidObstacles(false);
self.assertEquals(~rrt.avoidObstacles,1);
rrt.SetAvoidObstacles(true);
self.assertEquals(rrt.avoidObstacles,1);
delete(rrt);
end
%% testRun
function testRun(self)
treesMax = 28;
seedsPerAxis = 5;
wallCount = 2;
rrt = RrtPlanner(treesMax,seedsPerAxis,wallCount);
rrt.Run();
self.assertEquals(~isempty(rrt.path),1);
delete(rrt);
end
%% testRunLoadedObstaclesEasy
function testRunLoadedObstaclesEasy(self)
treesMax = 29;
seedsPerAxis = 3;
obstacleFilename = 'obstacles.txt';
rrt = RrtPlanner(treesMax,seedsPerAxis,obstacleFilename);
rrt.Run();
self.assertEquals(~isempty(rrt.path),1);
delete(rrt);
end
%% testRunLoadedObstaclesMedium
function testRunLoadedObstaclesMedium(self)
treesMax = 29;
seedsPerAxis = 3;
obstacleFilename = 'obstacles2.txt';
rrt = RrtPlanner(treesMax,seedsPerAxis,obstacleFilename);
rrt.Run();
self.assertEquals(~isempty(rrt.path),1);
delete(rrt);
end
%% testRunLoadedObstaclesHard
function testRunLoadedObstaclesHard(self)
seedsPerAxis = 7;
treesMax = seedsPerAxis^3*3+2;
obstacleFilename = 'obstacles3.txt';
rrt = RrtPlanner(treesMax,seedsPerAxis,obstacleFilename);
rrt.drawingSkipsPerDrawing = 50;
rrt.Run();
self.assertEquals(~isempty(rrt.path),1);
delete(rrt);
end
%% testRunLoadedObstaclesTunnel
function testRunLoadedObstaclesTunnel(self)
seedsPerAxis = 7;
treesMax = seedsPerAxis^3*3+2;
obstacleFilename = 'obstacles4.txt';
rrt = RrtPlanner(treesMax,seedsPerAxis,obstacleFilename);
rrt.drawingSkipsPerDrawing = 10;
rrt.Run();
self.assertEquals(~isempty(rrt.path),1);
delete(rrt);
end
%% testChangeObstacleFilename
function testChangeObstacleFilename(self)
seedsPerAxis = 7;
treesMax = seedsPerAxis^3*3+2;
obstacleFilename = 'obstacles3.txt';
rrt = RrtPlanner(treesMax,seedsPerAxis,obstacleFilename);
% Change obstacles
rrt.SetObstacleFilename('obstacles.txt');
rrt.drawingSkipsPerDrawing = 50;
rrt.Run();
self.assertEquals(~isempty(rrt.path),1);
self.assertEquals(~isempty(rrt.smoothedPath),1);
fig_h = plot3(rrt.path(:,1),rrt.path(:,2),rrt.path(:,3),'r*');
plot3(rrt.smoothedPath(:,1),rrt.smoothedPath(:,2),rrt.smoothedPath(:,3),'g*');
delete(fig_h);
delete(rrt);
end
end
end