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test.jl
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#
# Test script
#
# author: Atsushi Sakai
#
include("./lib/trailer_hybrid_a_star.jl")
function test()
println("Test Start !!!")
gx = 0.0 # [m]
gy = 0.0 # [m]
gyaw0 = deg2rad(90.0)
gyaw1 = deg2rad(90.0)
ox = Float64[]
oy = Float64[]
for i in -25:25
push!(ox, Float64(i))
push!(oy, 15.0)
end
for i in -25:-4
push!(ox, Float64(i))
push!(oy, 4.0)
end
for i in -15:4
push!(ox, -4.0)
push!(oy, Float64(i))
end
for i in -15:4
push!(ox, 4.0)
push!(oy, Float64(i))
end
for i in 4:25
push!(ox, Float64(i))
push!(oy, 4.0)
end
for i in -4:4
push!(ox, Float64(i))
push!(oy, -15.0)
end
oox = ox[:]
ooy = oy[:]
sx = -10.0 # [m]
sy = 6.0 # [m]
syaw0 = deg2rad(00.0)
syaw1 = deg2rad(00.0)
@time path = trailer_hybrid_a_star.calc_hybrid_astar_path(sx, sy, syaw0, syaw1, gx, gy, gyaw0, gyaw1, ox, oy,
trailer_hybrid_a_star.XY_GRID_RESOLUTION,
trailer_hybrid_a_star.YAW_GRID_RESOLUTION)
Base.Test.@test length(path.x)>=1
sx = 14.0 # [m]
sy = 10.0 # [m]
syaw0 = deg2rad(00.0)
syaw1 = deg2rad(00.0)
@time path = trailer_hybrid_a_star.calc_hybrid_astar_path(sx, sy, syaw0, syaw1, gx, gy, gyaw0, gyaw1, ox, oy,
trailer_hybrid_a_star.XY_GRID_RESOLUTION,
trailer_hybrid_a_star.YAW_GRID_RESOLUTION)
Base.Test.@test length(path.x)>=1
sx = -14.0 # [m]
sy = 12.0 # [m]
syaw0 = deg2rad(00.0)
syaw1 = deg2rad(00.0)
@time path = trailer_hybrid_a_star.calc_hybrid_astar_path(sx, sy, syaw0, syaw1, gx, gy, gyaw0, gyaw1, ox, oy,
trailer_hybrid_a_star.XY_GRID_RESOLUTION,
trailer_hybrid_a_star.YAW_GRID_RESOLUTION)
Base.Test.@test length(path.x)>=1
sx = -20.0 # [m]
sy = 6.0 # [m]
syaw0 = deg2rad(00.0)
syaw1 = deg2rad(00.0)
@time path = trailer_hybrid_a_star.calc_hybrid_astar_path(sx, sy, syaw0, syaw1, gx, gy, gyaw0, gyaw1, ox, oy,
trailer_hybrid_a_star.XY_GRID_RESOLUTION,
trailer_hybrid_a_star.YAW_GRID_RESOLUTION)
Base.Test.@test length(path.x)>=1
sx = -14.0 # [m]
sy = 12.0 # [m]
syaw0 = deg2rad(00.0)
syaw1 = deg2rad(00.0)
@time path = trailer_hybrid_a_star.calc_hybrid_astar_path(sx, sy, syaw0, syaw1, gx, gy, gyaw0, gyaw1, ox, oy,
trailer_hybrid_a_star.XY_GRID_RESOLUTION,
trailer_hybrid_a_star.YAW_GRID_RESOLUTION)
Base.Test.@test length(path.x)>=1
sx = -20.0 # [m]
sy = 6.0 # [m]
syaw0 = deg2rad(180.0)
syaw1 = deg2rad(180.0)
@time path = trailer_hybrid_a_star.calc_hybrid_astar_path(sx, sy, syaw0, syaw1, gx, gy, gyaw0, gyaw1, ox, oy,
trailer_hybrid_a_star.XY_GRID_RESOLUTION,
trailer_hybrid_a_star.YAW_GRID_RESOLUTION)
Base.Test.@test length(path.x)>=1
sx = -20.0 # [m]
sy = 12.0 # [m]
syaw0 = deg2rad(180.0)
syaw1 = deg2rad(180.0)
@time path = trailer_hybrid_a_star.calc_hybrid_astar_path(sx, sy, syaw0, syaw1, gx, gy, gyaw0, gyaw1, ox, oy,
trailer_hybrid_a_star.XY_GRID_RESOLUTION,
trailer_hybrid_a_star.YAW_GRID_RESOLUTION
)
Base.Test.@test length(path.x)>=1
println("Test Done !!!")
end
@time test()