BrmTron Server/src/cz/brmlab/brmtron/server/test/BrmTronServerTest.java

   1 package cz.brmlab.brmtron.server.test;
   2
   3 import static org.junit.Assert.*;
   4
   5 import java.util.Random;
   6
   7 import org.junit.Test;
   8
   9 import cz.brmlab.brmtron.server.BrmTronServer;
  10 import cz.brmlab.brmtron.server.PathElement;
  11
  12 public class BrmTronServerTest extends BrmTronServer{
  13
  14         @Test
  15         public void test_calcIntersection() {
  16                 final double dx = 1e-09;
  17
  18                 double[] start1 = {0.0, 0.0};
  19                 double[] end1 = {0.0, 2.0};
  20                 double[] start2 = {-1.0, 0.0};
  21                 double[] end2 = {1.0, 2.0};
  22
  23                 double[] res = {0.0, 1.0};
  24
  25                 PathElement e1 = new PathElement(start1, end1);
  26                 PathElement e2 = new PathElement(start2, end2);
  27
  28                 double[] brm = BrmTronServer.calcIntersection(e1, e2);
  29
  30                 assertTrue(compareDouble(brm, res, dx));
  31         }
  32
  33         @Test
  34         public void test1_findIntersection() {
  35                 final double dx = 1e-09;
  36
  37                 double[] start1 = {0.0, 0.0};
  38                 double[] end1 = {0.0, 2.0};
  39                 double[] start2 = {-1.0, 0.0};
  40                 double[] end2 = {1.0, 2.0};
  41
  42                 double[] res = {0.0, 1.0};
  43
  44                 PathElement e1 = new PathElement(start1, end1);
  45                 PathElement e2 = new PathElement(start2, end2);
  46
  47                 double[] brm = BrmTronServer.findIntersection(e1, e2);
  48
  49                 assertTrue(compareDouble(brm, res, dx) );
  50         }
  51
  52         @Test
  53         public void test2_findIntersection() {
  54                 final double dx = 1e-09;
  55
  56                 double[] start1 = {0.1, 0.1};
  57                 double[] end1 = {0.0, 2.0};
  58                 double[] start2 = {-1.0, 0.2};
  59                 double[] end2 = {1.0, 200.0};
  60
  61                 double[] res = null;
  62
  63                 PathElement e1 = new PathElement(start1, end1);
  64                 PathElement e2 = new PathElement(start2, end2);
  65
  66                 double[] brm = BrmTronServer.findIntersection(e1, e2);
  67
  68                 assertTrue(compareDouble(brm, res, dx));
  69         }
  70
  71         @Test
  72         public void test1_checkForCollision() {
  73                 generateWalls(500);
  74                 double[] start = {0,1};
  75                 double [] end = {1,0};
  76                 PathElement p = new PathElement(start, end);
  77
  78                 assertFalse(checkForCollision(p) == null);
  79
  80                 p.setStart(500, 893);
  81                 p.setEnd(543, 489.1);
  82
  83                 assertTrue(checkForCollision(p) == null);
  84         }
  85
  86         private boolean compareDouble(double[] a, double[] b, double dx) {
  87                 if(a == null && b == null)
  88                         return true;
  89                 if((a == null && b != null) || (a != null && b ==null))
  90                         return false;
  91                 boolean ret=true;
  92                 for(int i=0; i<a.length; i++) {
  93                         if(Math.abs(a[i]-b[i]) > dx) {
  94                                 ret = false;
  95                                 break;
  96                         }
  97
  98                 }
  99                 return ret;
 100         }
 101
 102         private void generateWalls(int n) {
 103                 Random r = new Random();
 104                 double[] start = {0,0};
 105                 double[] end = {0,0};
 106                 while((n--)>0) {
 107                         start = end.clone();
 108                         end[0] = start[0] + r.nextDouble();
 109                         end[1] = start[1] + r.nextDouble();
 110                         PathElement p = new PathElement(start, end);
 111                         addWall(p);
 112                 }
 113         }
 114
 115 }