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|
// Copyright ©2015 The Gonum Authors. All rights reserved.
// Use of this source code is governed by a BSD-style
// license that can be found in the LICENSE file.
package testgraphs
import (
"math"
"reflect"
"testing"
"gonum.org/v1/gonum/graph"
"gonum.org/v1/gonum/graph/simple"
)
type changes struct {
n graph.Node
new, old []simple.WeightedEdge
}
var limitedVisionTests = []struct {
g *Grid
radius float64
diag bool
remember bool
path []graph.Node
want []changes
}{
{
g: NewGridFrom(
"*..*",
"**.*",
"**.*",
"**.*",
),
radius: 1,
diag: false,
remember: false,
path: []graph.Node{node(1), node(2), node(6), node(10), node(14)},
want: []changes{
{
n: node(1),
new: []simple.WeightedEdge{
{F: simple.Node(0), T: simple.Node(1), W: math.Inf(1)},
{F: simple.Node(1), T: simple.Node(0), W: math.Inf(1)},
{F: simple.Node(1), T: simple.Node(2), W: 1},
{F: simple.Node(1), T: simple.Node(5), W: math.Inf(1)},
{F: simple.Node(2), T: simple.Node(1), W: 1},
{F: simple.Node(5), T: simple.Node(1), W: math.Inf(1)},
},
old: nil,
},
{
n: node(2),
new: []simple.WeightedEdge{
{F: simple.Node(1), T: simple.Node(2), W: 1},
{F: simple.Node(2), T: simple.Node(1), W: 1},
{F: simple.Node(2), T: simple.Node(3), W: math.Inf(1)},
{F: simple.Node(2), T: simple.Node(6), W: 1},
{F: simple.Node(3), T: simple.Node(2), W: math.Inf(1)},
{F: simple.Node(6), T: simple.Node(2), W: 1},
},
old: nil,
},
{
n: node(6),
new: []simple.WeightedEdge{
{F: simple.Node(2), T: simple.Node(6), W: 1},
{F: simple.Node(5), T: simple.Node(6), W: math.Inf(1)},
{F: simple.Node(6), T: simple.Node(2), W: 1},
{F: simple.Node(6), T: simple.Node(5), W: math.Inf(1)},
{F: simple.Node(6), T: simple.Node(7), W: math.Inf(1)},
{F: simple.Node(6), T: simple.Node(10), W: 1},
{F: simple.Node(7), T: simple.Node(6), W: math.Inf(1)},
{F: simple.Node(10), T: simple.Node(6), W: 1},
},
old: nil,
},
{
n: node(10),
new: []simple.WeightedEdge{
{F: simple.Node(6), T: simple.Node(10), W: 1},
{F: simple.Node(9), T: simple.Node(10), W: math.Inf(1)},
{F: simple.Node(10), T: simple.Node(6), W: 1},
{F: simple.Node(10), T: simple.Node(9), W: math.Inf(1)},
{F: simple.Node(10), T: simple.Node(11), W: math.Inf(1)},
{F: simple.Node(10), T: simple.Node(14), W: 1},
{F: simple.Node(11), T: simple.Node(10), W: math.Inf(1)},
{F: simple.Node(14), T: simple.Node(10), W: 1},
},
old: nil,
},
{
n: node(14),
new: []simple.WeightedEdge{
{F: simple.Node(10), T: simple.Node(14), W: 1},
{F: simple.Node(13), T: simple.Node(14), W: math.Inf(1)},
{F: simple.Node(14), T: simple.Node(10), W: 1},
{F: simple.Node(14), T: simple.Node(13), W: math.Inf(1)},
{F: simple.Node(14), T: simple.Node(15), W: math.Inf(1)},
{F: simple.Node(15), T: simple.Node(14), W: math.Inf(1)},
},
old: nil,
},
},
},
{
g: NewGridFrom(
"*..*",
"**.*",
"**.*",
"**.*",
),
radius: 1.5,
diag: false,
remember: false,
path: []graph.Node{node(1), node(2), node(6), node(10), node(14)},
want: []changes{
{
n: node(1),
new: []simple.WeightedEdge{
{F: simple.Node(0), T: simple.Node(1), W: math.Inf(1)},
{F: simple.Node(0), T: simple.Node(4), W: math.Inf(1)},
{F: simple.Node(1), T: simple.Node(0), W: math.Inf(1)},
{F: simple.Node(1), T: simple.Node(2), W: 1},
{F: simple.Node(1), T: simple.Node(5), W: math.Inf(1)},
{F: simple.Node(2), T: simple.Node(1), W: 1},
{F: simple.Node(2), T: simple.Node(6), W: 1},
{F: simple.Node(4), T: simple.Node(0), W: math.Inf(1)},
{F: simple.Node(4), T: simple.Node(5), W: math.Inf(1)},
{F: simple.Node(5), T: simple.Node(1), W: math.Inf(1)},
{F: simple.Node(5), T: simple.Node(4), W: math.Inf(1)},
{F: simple.Node(5), T: simple.Node(6), W: math.Inf(1)},
{F: simple.Node(6), T: simple.Node(2), W: 1},
{F: simple.Node(6), T: simple.Node(5), W: math.Inf(1)},
},
old: nil,
},
{
n: node(2),
new: []simple.WeightedEdge{
{F: simple.Node(1), T: simple.Node(2), W: 1},
{F: simple.Node(1), T: simple.Node(5), W: math.Inf(1)},
{F: simple.Node(2), T: simple.Node(1), W: 1},
{F: simple.Node(2), T: simple.Node(3), W: math.Inf(1)},
{F: simple.Node(2), T: simple.Node(6), W: 1},
{F: simple.Node(3), T: simple.Node(2), W: math.Inf(1)},
{F: simple.Node(3), T: simple.Node(7), W: math.Inf(1)},
{F: simple.Node(5), T: simple.Node(1), W: math.Inf(1)},
{F: simple.Node(5), T: simple.Node(6), W: math.Inf(1)},
{F: simple.Node(6), T: simple.Node(2), W: 1},
{F: simple.Node(6), T: simple.Node(5), W: math.Inf(1)},
{F: simple.Node(6), T: simple.Node(7), W: math.Inf(1)},
{F: simple.Node(7), T: simple.Node(3), W: math.Inf(1)},
{F: simple.Node(7), T: simple.Node(6), W: math.Inf(1)},
},
old: nil,
},
{
n: node(6),
new: []simple.WeightedEdge{
{F: simple.Node(1), T: simple.Node(2), W: 1},
{F: simple.Node(1), T: simple.Node(5), W: math.Inf(1)},
{F: simple.Node(2), T: simple.Node(1), W: 1},
{F: simple.Node(2), T: simple.Node(3), W: math.Inf(1)},
{F: simple.Node(2), T: simple.Node(6), W: 1},
{F: simple.Node(3), T: simple.Node(2), W: math.Inf(1)},
{F: simple.Node(3), T: simple.Node(7), W: math.Inf(1)},
{F: simple.Node(5), T: simple.Node(1), W: math.Inf(1)},
{F: simple.Node(5), T: simple.Node(6), W: math.Inf(1)},
{F: simple.Node(5), T: simple.Node(9), W: math.Inf(1)},
{F: simple.Node(6), T: simple.Node(2), W: 1},
{F: simple.Node(6), T: simple.Node(5), W: math.Inf(1)},
{F: simple.Node(6), T: simple.Node(7), W: math.Inf(1)},
{F: simple.Node(6), T: simple.Node(10), W: 1},
{F: simple.Node(7), T: simple.Node(3), W: math.Inf(1)},
{F: simple.Node(7), T: simple.Node(6), W: math.Inf(1)},
{F: simple.Node(7), T: simple.Node(11), W: math.Inf(1)},
{F: simple.Node(9), T: simple.Node(5), W: math.Inf(1)},
{F: simple.Node(9), T: simple.Node(10), W: math.Inf(1)},
{F: simple.Node(10), T: simple.Node(6), W: 1},
{F: simple.Node(10), T: simple.Node(9), W: math.Inf(1)},
{F: simple.Node(10), T: simple.Node(11), W: math.Inf(1)},
{F: simple.Node(11), T: simple.Node(7), W: math.Inf(1)},
{F: simple.Node(11), T: simple.Node(10), W: math.Inf(1)},
},
old: nil,
},
{
n: node(10),
new: []simple.WeightedEdge{
{F: simple.Node(5), T: simple.Node(6), W: math.Inf(1)},
{F: simple.Node(5), T: simple.Node(9), W: math.Inf(1)},
{F: simple.Node(6), T: simple.Node(5), W: math.Inf(1)},
{F: simple.Node(6), T: simple.Node(7), W: math.Inf(1)},
{F: simple.Node(6), T: simple.Node(10), W: 1},
{F: simple.Node(7), T: simple.Node(6), W: math.Inf(1)},
{F: simple.Node(7), T: simple.Node(11), W: math.Inf(1)},
{F: simple.Node(9), T: simple.Node(5), W: math.Inf(1)},
{F: simple.Node(9), T: simple.Node(10), W: math.Inf(1)},
{F: simple.Node(9), T: simple.Node(13), W: math.Inf(1)},
{F: simple.Node(10), T: simple.Node(6), W: 1},
{F: simple.Node(10), T: simple.Node(9), W: math.Inf(1)},
{F: simple.Node(10), T: simple.Node(11), W: math.Inf(1)},
{F: simple.Node(10), T: simple.Node(14), W: 1},
{F: simple.Node(11), T: simple.Node(7), W: math.Inf(1)},
{F: simple.Node(11), T: simple.Node(10), W: math.Inf(1)},
{F: simple.Node(11), T: simple.Node(15), W: math.Inf(1)},
{F: simple.Node(13), T: simple.Node(9), W: math.Inf(1)},
{F: simple.Node(13), T: simple.Node(14), W: math.Inf(1)},
{F: simple.Node(14), T: simple.Node(10), W: 1},
{F: simple.Node(14), T: simple.Node(13), W: math.Inf(1)},
{F: simple.Node(14), T: simple.Node(15), W: math.Inf(1)},
{F: simple.Node(15), T: simple.Node(11), W: math.Inf(1)},
{F: simple.Node(15), T: simple.Node(14), W: math.Inf(1)},
},
old: nil,
},
{
n: node(14),
new: []simple.WeightedEdge{
{F: simple.Node(9), T: simple.Node(10), W: math.Inf(1)},
{F: simple.Node(9), T: simple.Node(13), W: math.Inf(1)},
{F: simple.Node(10), T: simple.Node(9), W: math.Inf(1)},
{F: simple.Node(10), T: simple.Node(11), W: math.Inf(1)},
{F: simple.Node(10), T: simple.Node(14), W: 1},
{F: simple.Node(11), T: simple.Node(10), W: math.Inf(1)},
{F: simple.Node(11), T: simple.Node(15), W: math.Inf(1)},
{F: simple.Node(13), T: simple.Node(9), W: math.Inf(1)},
{F: simple.Node(13), T: simple.Node(14), W: math.Inf(1)},
{F: simple.Node(14), T: simple.Node(10), W: 1},
{F: simple.Node(14), T: simple.Node(13), W: math.Inf(1)},
{F: simple.Node(14), T: simple.Node(15), W: math.Inf(1)},
{F: simple.Node(15), T: simple.Node(11), W: math.Inf(1)},
{F: simple.Node(15), T: simple.Node(14), W: math.Inf(1)},
},
old: nil,
},
},
},
{
g: NewGridFrom(
"*..*",
"**.*",
"**.*",
"**.*",
),
radius: 1,
diag: false,
remember: true,
path: []graph.Node{node(1), node(2), node(6), node(10), node(14)},
want: []changes{
{
n: node(1),
new: []simple.WeightedEdge{
{F: simple.Node(0), T: simple.Node(1), W: math.Inf(1)},
{F: simple.Node(1), T: simple.Node(0), W: math.Inf(1)},
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},
old: []simple.WeightedEdge{
{F: simple.Node(5), T: simple.Node(0), W: math.Inf(1)},
{F: simple.Node(5), T: simple.Node(1), W: math.Inf(1)},
{F: simple.Node(5), T: simple.Node(2), W: math.Inf(1)},
{F: simple.Node(5), T: simple.Node(4), W: math.Inf(1)},
{F: simple.Node(5), T: simple.Node(6), W: math.Inf(1)},
{F: simple.Node(5), T: simple.Node(9), W: math.Inf(1)},
{F: simple.Node(5), T: simple.Node(10), W: math.Inf(1)},
{F: simple.Node(6), T: simple.Node(1), W: math.Sqrt2},
{F: simple.Node(6), T: simple.Node(2), W: 1},
{F: simple.Node(6), T: simple.Node(3), W: math.Inf(1)},
{F: simple.Node(6), T: simple.Node(5), W: math.Inf(1)},
{F: simple.Node(6), T: simple.Node(7), W: math.Inf(1)},
{F: simple.Node(6), T: simple.Node(9), W: math.Inf(1)},
{F: simple.Node(6), T: simple.Node(10), W: 1},
{F: simple.Node(6), T: simple.Node(11), W: math.Inf(1)},
{F: simple.Node(7), T: simple.Node(2), W: math.Inf(1)},
{F: simple.Node(7), T: simple.Node(3), W: math.Inf(1)},
{F: simple.Node(7), T: simple.Node(6), W: math.Inf(1)},
{F: simple.Node(7), T: simple.Node(10), W: math.Inf(1)},
{F: simple.Node(7), T: simple.Node(11), W: math.Inf(1)},
{F: simple.Node(9), T: simple.Node(4), W: math.Inf(1)},
{F: simple.Node(9), T: simple.Node(5), W: math.Inf(1)},
{F: simple.Node(9), T: simple.Node(6), W: math.Inf(1)},
{F: simple.Node(9), T: simple.Node(10), W: math.Inf(1)},
{F: simple.Node(10), T: simple.Node(5), W: math.Inf(1)},
{F: simple.Node(10), T: simple.Node(6), W: 1},
{F: simple.Node(10), T: simple.Node(7), W: math.Inf(1)},
{F: simple.Node(10), T: simple.Node(9), W: math.Inf(1)},
{F: simple.Node(10), T: simple.Node(11), W: math.Inf(1)},
{F: simple.Node(11), T: simple.Node(6), W: math.Inf(1)},
{F: simple.Node(11), T: simple.Node(7), W: math.Inf(1)},
{F: simple.Node(11), T: simple.Node(10), W: math.Inf(1)},
},
},
{
n: node(14),
new: nil,
old: []simple.WeightedEdge{
{F: simple.Node(9), T: simple.Node(4), W: math.Inf(1)},
{F: simple.Node(9), T: simple.Node(5), W: math.Inf(1)},
{F: simple.Node(9), T: simple.Node(6), W: math.Inf(1)},
{F: simple.Node(9), T: simple.Node(10), W: math.Inf(1)},
{F: simple.Node(9), T: simple.Node(13), W: math.Inf(1)},
{F: simple.Node(9), T: simple.Node(14), W: math.Inf(1)},
{F: simple.Node(10), T: simple.Node(5), W: math.Inf(1)},
{F: simple.Node(10), T: simple.Node(6), W: 1},
{F: simple.Node(10), T: simple.Node(7), W: math.Inf(1)},
{F: simple.Node(10), T: simple.Node(9), W: math.Inf(1)},
{F: simple.Node(10), T: simple.Node(11), W: math.Inf(1)},
{F: simple.Node(10), T: simple.Node(13), W: math.Inf(1)},
{F: simple.Node(10), T: simple.Node(14), W: 1},
{F: simple.Node(10), T: simple.Node(15), W: math.Inf(1)},
{F: simple.Node(11), T: simple.Node(6), W: math.Inf(1)},
{F: simple.Node(11), T: simple.Node(7), W: math.Inf(1)},
{F: simple.Node(11), T: simple.Node(10), W: math.Inf(1)},
{F: simple.Node(11), T: simple.Node(14), W: math.Inf(1)},
{F: simple.Node(11), T: simple.Node(15), W: math.Inf(1)},
{F: simple.Node(13), T: simple.Node(9), W: math.Inf(1)},
{F: simple.Node(13), T: simple.Node(10), W: math.Inf(1)},
{F: simple.Node(13), T: simple.Node(14), W: math.Inf(1)},
{F: simple.Node(14), T: simple.Node(9), W: math.Inf(1)},
{F: simple.Node(14), T: simple.Node(10), W: 1},
{F: simple.Node(14), T: simple.Node(11), W: math.Inf(1)},
{F: simple.Node(14), T: simple.Node(13), W: math.Inf(1)},
{F: simple.Node(14), T: simple.Node(15), W: math.Inf(1)},
{F: simple.Node(15), T: simple.Node(10), W: math.Inf(1)},
{F: simple.Node(15), T: simple.Node(11), W: math.Inf(1)},
{F: simple.Node(15), T: simple.Node(14), W: math.Inf(1)},
},
},
},
},
}
func TestLimitedVisionGrid(t *testing.T) {
t.Parallel()
for i, test := range limitedVisionTests {
l := &LimitedVisionGrid{
Grid: test.g,
VisionRadius: test.radius,
Location: test.path[0],
}
if test.remember {
l.Known = make(map[int64]bool)
}
l.Grid.AllowDiagonal = test.diag
x, y := l.XY(test.path[0].ID())
nodes := graph.NodesOf(l.Nodes())
for _, u := range nodes {
uid := u.ID()
ux, uy := l.XY(uid)
uNear := math.Hypot(x-ux, y-uy) <= test.radius
for _, v := range nodes {
vid := v.ID()
vx, vy := l.XY(vid)
vNear := math.Hypot(x-vx, y-vy) <= test.radius
if u.ID() == v.ID() && l.HasEdgeBetween(uid, vid) {
t.Errorf("unexpected self edge: %v -- %v", u, v)
}
if !uNear && !vNear && !l.HasEdgeBetween(uid, vid) && couldConnectIn(l, uid, vid) {
t.Errorf("unexpected pessimism: no hope in distant edge between %v and %v for test %d",
u, v, i)
}
if (uNear && vNear) && l.HasEdgeBetween(uid, vid) != l.Grid.HasEdgeBetween(uid, vid) {
t.Errorf("unrealistic optimism: disagreement about edge between %v and %v for test %d: got:%t want:%t",
u, v, i, l.HasEdgeBetween(uid, vid), l.Grid.HasEdgeBetween(uid, vid))
}
}
}
var got []changes
for _, n := range test.path {
new, old := l.MoveTo(n)
got = append(got, changes{n: n, new: asConcreteEdges(new, l), old: asConcreteEdges(old, l)})
}
if !reflect.DeepEqual(got, test.want) {
t.Errorf("unexpected walk for test %d:\ngot: %+v\nwant:%+v", i, got, test.want)
}
}
}
func asConcreteEdges(changes []graph.Edge, in graph.Weighted) []simple.WeightedEdge {
if changes == nil {
return nil
}
we := make([]simple.WeightedEdge, len(changes))
for i, e := range changes {
we[i].F = e.From()
we[i].T = e.To()
w, ok := in.Weight(e.From().ID(), e.To().ID())
if !ok && !math.IsInf(w, 1) {
panic("unexpected invalid finite weight")
}
we[i].W = w
}
return we
}
func couldConnectIn(l *LimitedVisionGrid, uid, vid int64) bool {
if uid == vid {
return false
}
ur, uc := l.RowCol(uid)
vr, vc := l.RowCol(vid)
if abs(ur-vr) > 1 || abs(uc-vc) > 1 {
return false
}
if (ur != vr || uc != vc) && !l.Grid.AllowDiagonal {
return false
}
if !l.Known[uid] && !l.Known[vid] {
return true
}
if l.Known[uid] && !l.Grid.HasOpen(uid) {
return false
}
if l.Known[vid] && !l.Grid.HasOpen(vid) {
return false
}
return true
}
|
