SweptAreaGeometryTests.cs
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using Rcs.Application.Services.PathFind.Models;
using Rcs.Domain.Enums;
using Rcs.Infrastructure.PathFinding.Services;
namespace Rcs.Infrastructure.Tests;
public class SweptAreaGeometryTests
{
[Fact]
public void BuildFootprintGeometry_UsesSafetyDistanceOnce()
{
var dimensions = new RobotSweepDimensions(
Width: 2d,
Length: 4d,
SafetyDistance: 0.5d,
UseDefaultWidth: false,
UseDefaultLength: false,
UseDefaultSafetyDistance: false);
var geometry = SweptAreaCoverageResolver.BuildFootprintGeometry(
new SweepPoint(0d, 0d),
0d,
dimensions);
var envelope = geometry.EnvelopeInternal;
Assert.Equal(-2.25d, envelope.MinX, 6);
Assert.Equal(2.25d, envelope.MaxX, 6);
Assert.Equal(-1.25d, envelope.MinY, 6);
Assert.Equal(1.25d, envelope.MaxY, 6);
}
[Fact]
public void BuildSweptGeometryFromSegments_SameCenterLineDifferentPoseCreatesDifferentGeometry()
{
var graph = BuildStraightGraph();
var dimensions = new RobotSweepDimensions(
Width: 1d,
Length: 3d,
SafetyDistance: 0d,
UseDefaultWidth: false,
UseDefaultLength: false,
UseDefaultSafetyDistance: false);
var forward = SweptAreaCoverageResolver.BuildSweptGeometryFromSegments(
new[] { BuildSegment(0d, 0d) },
graph,
dimensions);
var sideway = SweptAreaCoverageResolver.BuildSweptGeometryFromSegments(
new[] { BuildSegment(Math.PI / 2d, Math.PI / 2d) },
graph,
dimensions);
Assert.False(forward.EqualsTopologically(sideway));
Assert.NotEqual(forward.Area, sideway.Area, precision: 6);
}
[Fact]
public void CoveredResourceOverlap_DoesNotImplyGeometryIntersection()
{
var dimensions = new RobotSweepDimensions(
Width: 1d,
Length: 1d,
SafetyDistance: 0d,
UseDefaultWidth: false,
UseDefaultLength: false,
UseDefaultSafetyDistance: false);
var left = SweptAreaCoverageResolver.BuildFootprintGeometry(
new SweepPoint(0d, 0d),
0d,
dimensions);
var right = SweptAreaCoverageResolver.BuildFootprintGeometry(
new SweepPoint(5d, 0d),
0d,
dimensions);
var leftDescriptor = new SweptGeometryDescriptor
{
GeometryWkbBase64 = Convert.ToBase64String(new NetTopologySuite.IO.WKBWriter().Write(left)),
MinX = left.EnvelopeInternal.MinX,
MinY = left.EnvelopeInternal.MinY,
MaxX = left.EnvelopeInternal.MaxX,
MaxY = left.EnvelopeInternal.MaxY,
CoveredNodeCodes = new List<string> { "N1" },
CoveredEdges = new List<VdaLockCoveredEdge> { new() { EdgeCode = "E1" } },
Kind = SweptGeometryKind.PlannedDispatch
};
var rightDescriptor = new SweptGeometryDescriptor
{
GeometryWkbBase64 = Convert.ToBase64String(new NetTopologySuite.IO.WKBWriter().Write(right)),
MinX = right.EnvelopeInternal.MinX,
MinY = right.EnvelopeInternal.MinY,
MaxX = right.EnvelopeInternal.MaxX,
MaxY = right.EnvelopeInternal.MaxY,
CoveredNodeCodes = new List<string> { "N1" },
CoveredEdges = new List<VdaLockCoveredEdge> { new() { EdgeCode = "E1" } },
Kind = SweptGeometryKind.PlannedDispatch
};
var leftGeometry = SweptAreaCoverageResolver.ReadGeometryFromWkbBase64(leftDescriptor.GeometryWkbBase64);
var rightGeometry = SweptAreaCoverageResolver.ReadGeometryFromWkbBase64(rightDescriptor.GeometryWkbBase64);
Assert.True(leftDescriptor.CoveredNodeCodes.Intersect(rightDescriptor.CoveredNodeCodes).Any());
Assert.False(leftGeometry.Intersects(rightGeometry));
}
[Fact]
public void BuildRotationSweptGeometry_CoversIntermediateFootprint()
{
var dimensions = new RobotSweepDimensions(
Width: 1d,
Length: 3d,
SafetyDistance: 0d,
UseDefaultWidth: false,
UseDefaultLength: false,
UseDefaultSafetyDistance: false);
var rotation = SweptAreaCoverageResolver.BuildRotationSweptGeometry(
new SweepPoint(0d, 0d),
0d,
Math.PI / 2d,
dimensions);
var intermediate = SweptAreaCoverageResolver.BuildFootprintGeometry(
new SweepPoint(0d, 0d),
Math.PI / 4d,
dimensions);
Assert.True(rotation.Covers(intermediate));
}
private static PathGraph BuildStraightGraph()
{
var fromId = Guid.NewGuid();
var toId = Guid.NewGuid();
var edgeId = Guid.NewGuid();
return new PathGraph
{
MapId = Guid.NewGuid(),
MapCode = "M1",
Nodes = new Dictionary<Guid, PathNode>
{
[fromId] = new()
{
NodeId = fromId,
NodeCode = "N1",
X = 0d,
Y = 0d,
Active = true
},
[toId] = new()
{
NodeId = toId,
NodeCode = "N2",
X = 5d,
Y = 0d,
Active = true
}
},
Edges = new Dictionary<Guid, PathEdge>
{
[edgeId] = new()
{
EdgeId = edgeId,
EdgeCode = "E12",
FromNodeId = fromId,
ToNodeId = toId,
FromNodeCode = "N1",
ToNodeCode = "N2",
Active = true,
CurveType = MapEdgeCurveType.Straight
}
}
};
}
private static PathSegmentWithCode BuildSegment(double startTheta, double endTheta)
{
return new PathSegmentWithCode
{
FromNodeCode = "N1",
ToNodeCode = "N2",
EdgeCode = "E12",
StartTheta = startTheta,
EndTheta = endTheta,
Angle = 0d
};
}
}