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Author: rsleiti

PathPlanning/AStar/__init__.py

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+import unittest
+from PathPlanning.AStar.a_star import AStarPlanner
+
+
+class TestAStar(unittest.TestCase):
+    def test_basic_path(self):
+        # create simple U-shaped obstacle walls
+        ox = [i for i in range(60)]          # bottom wall
+        oy = [0 for _ in range(60)]
+
+        for i in range(60):                  # right wall
+            ox.append(60)
+            oy.append(i)
+
+        sx = 10.0        # start (x, y)
+        sy = 10.0
+        gx = 50.0        # goal (x, y)
+        gy = 50.0
+        grid_size = 2.0
+        robot_radius = 1.0
+
+        planner = AStarPlanner(ox, oy, grid_size, robot_radius)
+        rx, ry = planner.planning(sx, sy, gx, gy)
+
+        # basic sanity checks
+        self.assertTrue(len(rx) > 0)
+        self.assertEqual(len(rx), len(ry))
+
+        # the algorithm may return the path in either direction;
+        # verify the two endpoints match {start, goal} regardless of order
+        self.assertCountEqual(
+            {(rx[0], ry[0]), (rx[-1], ry[-1])},
+            {(sx, sy), (gx, gy)}
+        )
+
+    def test_start_equals_goal(self):
+        # provide ONE dummy obstacle so min()/max() calls succeed
+        sx = sy = gx = gy = 10.0
+        ox = [sx]
+        oy = [sy]
+        grid_size = 1.0
+        robot_radius = 1.0
+
+        planner = AStarPlanner(ox, oy, grid_size, robot_radius)
+        rx, ry = planner.planning(sx, sy, gx, gy)
+
+        # when start == goal, path should contain exactly that single point
+        self.assertEqual(len(rx), 1)
+        self.assertEqual((rx[0], ry[0]), (sx, sy))
+
+
+if __name__ == '__main__':
+    unittest.main()