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Unit tests and a couple minor bug fixes/tweaks #8

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merged 6 commits into from
Oct 20, 2011
Merged

Unit tests and a couple minor bug fixes/tweaks #8

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759025b
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chimericdream Oct 20, 2011
73be3fe
[flag] bug fix; the bottom flag was pulling the top location
chimericdream Oct 20, 2011
4a7dfd0
[position estimate] added getx() and gety() methods
chimericdream Oct 20, 2011
d0ff1c6
[settings] changed calculations for penalty area
chimericdream Oct 20, 2011
e165c34
[flag][test] added flag test (it passes... for now)
chimericdream Oct 20, 2011
ea724d5
Merge branch 'master' into unittests
chimericdream Oct 20, 2011
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2 changes: 1 addition & 1 deletion src/futility/Flag.java
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Original file line number Diff line number Diff line change
Expand Up @@ -95,7 +95,7 @@ else if (parts.length == 3) {
}
else if (parts[1].equals("b")) {
x = Settings.PHYSICAL_BOUNDARY().getCenter().getX();
y = Settings.PHYSICAL_BOUNDARY().getTop();
y = Settings.PHYSICAL_BOUNDARY().getBottom();
}
else if (parts[1].equals("l")) {
x = Settings.PHYSICAL_BOUNDARY().getLeft();
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8 changes: 8 additions & 0 deletions src/futility/PositionEstimate.java
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Expand Up @@ -32,6 +32,14 @@ public final Point getPosition() {
return position;
}

public final double getX() {
return position.getX();
}

public final double getY() {
return position.getY();
}

public final String render(int time) {
return this.position.render() + " with " + Double.toString(this.getConfidence(time)) + " confidence.";
}
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7 changes: 4 additions & 3 deletions src/futility/Settings.java
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Expand Up @@ -21,7 +21,8 @@ public class Settings {
public static final double FIELD_HEIGHT = 68.0;
public static final double FIELD_BUFFER = 5.0;
public static final double GOAL_HEIGHT = 14.02;
public static final double PENALTY_AREA_DISTANCE = 16.5; // Unconfirmed
public static final double PENALTY_AREA_WIDTH = 16.5; // 97.4% confirmed in robocup; based on size of actual field
public static final double PENALTY_AREA_HEIGHT = 40.3; // 97.4% confirmed in robocup; based on size of actual field

// Other constants
public static final char LEFT_SIDE = 'l';
Expand Down Expand Up @@ -63,11 +64,11 @@ public static class LOG_LEVELS {
}

public static Rectangle PENALTY_AREA_LEFT() {
return new Rectangle(FIELD_BUFFER + FIELD_HEIGHT / 2.0 + GOAL_HEIGHT / 2.0 + PENALTY_AREA_DISTANCE, FIELD_BUFFER + PENALTY_AREA_DISTANCE, FIELD_BUFFER - GOAL_HEIGHT / 2 - PENALTY_AREA_DISTANCE, FIELD_BUFFER);
return new Rectangle(FIELD_BUFFER + FIELD_HEIGHT / 2.0 + PENALTY_AREA_HEIGHT / 2.0, FIELD_BUFFER + PENALTY_AREA_WIDTH, FIELD_BUFFER + FIELD_HEIGHT / 2.0 - PENALTY_AREA_HEIGHT / 2.0, FIELD_BUFFER);
}

public static Rectangle PENALTY_AREA_RIGHT() {
return new Rectangle(FIELD().getCenter().getY() + (GOAL_HEIGHT / 2) + PENALTY_AREA_DISTANCE, FIELD().getRight(), FIELD().getCenter().getY() - GOAL_HEIGHT - PENALTY_AREA_DISTANCE, FIELD().getRight() - PENALTY_AREA_DISTANCE);
return new Rectangle(FIELD().getCenter().getY() + PENALTY_AREA_HEIGHT / 2.0, FIELD().getRight(), FIELD().getCenter().getY() - PENALTY_AREA_HEIGHT / 2.0, FIELD().getRight() - PENALTY_AREA_WIDTH);
}

// List of known game-state play modes
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207 changes: 205 additions & 2 deletions src/tests/futility/FlagTest.java
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Expand Up @@ -7,6 +7,9 @@
import org.junit.Before;
import org.junit.Test;

import futility.Flag;
import futility.Goal;

public class FlagTest {

@Before
Expand All @@ -19,6 +22,206 @@ public void tearDown() throws Exception {

@Test
public void testFlag() {
fail("Not implemented yet");
String[] flags = {
// Field perimeter flags
"(f t l 50)",
"(f t l 40)",
"(f t l 30)",
"(f t l 20)",
"(f t l 10)",
"(f t 0)",
"(f t r 10)",
"(f t r 20)",
"(f t r 30)",
"(f t r 40)",
"(f t r 50)",
"(f r t 30)",
"(f r t 20)",
"(f r t 10)",
"(f r 0)",
"(f r b 10)",
"(f r b 20)",
"(f r b 30)",
"(f b r 50)",
"(f b r 40)",
"(f b r 30)",
"(f b r 20)",
"(f b r 10)",
"(f b 0)",
"(f b l 10)",
"(f b l 20)",
"(f b l 30)",
"(f b l 40)",
"(f b l 50)",
"(f l b 30)",
"(f l b 20)",
"(f l b 10)",
"(f l 0)",
"(f l t 10)",
"(f l t 20)",
"(f l t 30)",

// Field corner flags
"(f l t)",
"(f r t)",
"(f r b)",
"(f l b)",

// Field center flags
"(f c t)",
"(f c)",
"(f c b)",

// Penalty area flags
"(f p l t)",
"(f p l c)",
"(f p l b)",
"(f p r t)",
"(f p r c)",
"(f p r b)",

// Goalpost flags
"(f g l t)",
"(f g l b)",
"(f g r t)",
"(f g r b)",
};

double[] xcoords = {
// Field perimeter flags
7.5, //(f t l 50)
17.5, //(f t l 40)
27.5, //(f t l 30)
37.5, //(f t l 20)
47.5, //(f t l 10)
57.5, //(f t 0)
67.5, //(f t r 10)
77.5, //(f t r 20)
87.5, //(f t r 30)
97.5, //(f t r 40)
107.5, //(f t r 50)
115, //(f r t 30)
115, //(f r t 20)
115, //(f r t 10)
115, //(f r 0)
115, //(f r b 10)
115, //(f r b 20)
115, //(f r b 30)
107.5, //(f b r 50)
97.5, //(f b r 40)
87.5, //(f b r 30)
77.5, //(f b r 20)
67.5, //(f b r 10)
57.5, //(f b 0)
47.5, //(f b l 10)
37.5, //(f b l 20)
27.5, //(f b l 30)
17.5, //(f b l 40)
7.5, //(f b l 50)
0, //(f l b 30)
0, //(f l b 20)
0, //(f l b 10)
0, //(f l 0)
0, //(f l t 10)
0, //(f l t 20)
0, //(f l t 30)

// Field corner flags
5, //(f l t)
110, //(f r t)
110, //(f r b)
5, //(f l b)

// Field center flags
57.5, //(f c t)
57.5, //(f c)
57.5, //(f c b)

// Penalty area flags
21.5, //(f p l t)
21.5, //(f p l c)
21.5, //(f p l b)
93.5, //(f p r t)
93.5, //(f p r c)
93.5, //(f p r b)

// Goalpost flags
5, //(f g l t)
5, //(f g l b)
110, //(f g r t)
110, //(f g r b)
};

double[] ycoords = {
// Field perimeter flags
78, //(f t l 50)
78, //(f t l 40)
78, //(f t l 30)
78, //(f t l 20)
78, //(f t l 10)
78, //(f t 0)
78, //(f t r 10)
78, //(f t r 20)
78, //(f t r 30)
78, //(f t r 40)
78, //(f t r 50)
69, //(f r t 30)
59, //(f r t 20)
49, //(f r t 10)
39, //(f r 0)
29, //(f r b 10)
19, //(f r b 20)
9, //(f r b 30)
0, //(f b r 50)
0, //(f b r 40)
0, //(f b r 30)
0, //(f b r 20)
0, //(f b r 10)
0, //(f b 0)
0, //(f b l 10)
0, //(f b l 20)
0, //(f b l 30)
0, //(f b l 40)
0, //(f b l 50)
9, //(f l b 30)
19, //(f l b 20)
29, //(f l b 10)
39, //(f l 0)
49, //(f l t 10)
59, //(f l t 20)
69, //(f l t 30)

// Field corner flags
73, //(f l t)
73, //(f r t)
5, //(f r b)
5, //(f l b)

// Field center flags
73, //(f c t)
39, //(f c)
5, //(f c b)

// Penalty area flags
59.15, //(f p l t)
39, //(f p l c)
18.85, //(f p l b)
59.15, //(f p r t)
39, //(f p r c)
18.85, //(f p r b)

// Goalpost flags
46.01, //(f g l t)
31.99, //(f g l b)
46.01, //(f g r t)
31.99, //(f g r b)
};

for (int i = 0; i < flags.length; i++) {
Flag newFlag = new Flag(flags[i]);
System.out.println("Attempting flag id: " + flags[i]);
assertEquals(xcoords[i], newFlag.position.getX(), 0.001);
assertEquals(ycoords[i], newFlag.position.getY(), 0.001);
}
}
}
}