func TestBiggerAStar(t *testing.T) {
tg := concrete.NewTileGraph(3, 3, true)
path, cost, _ := search.AStar(concrete.Node(0), concrete.Node(8), tg, nil, nil)
if math.Abs(cost-4) > 1e-5 || !search.IsPath(path, tg) {
t.Error("Non-optimal or impossible path found for 3x3 grid")
}
tg = concrete.NewTileGraph(1000, 1000, true)
path, cost, _ = search.AStar(concrete.Node(0), concrete.Node(999*1000+999), tg, nil, nil)
if !search.IsPath(path, tg) || cost != 1998 {
t.Error("Non-optimal or impossible path found for 100x100 grid; cost:", cost, "path:\n"+tg.PathString(path))
}
}
func TestSimpleAStar(t *testing.T) {
tg, err := concrete.GenerateTileGraph("▀ ▀\n▀▀ ▀\n▀▀ ▀\n▀▀ ▀")
if err != nil {
t.Fatal("Couldn't generate tilegraph")
}
path, cost, _ := search.AStar(concrete.Node(1), concrete.Node(14), tg, nil, nil)
if math.Abs(cost-4) > 1e-5 {
t.Errorf("A* reports incorrect cost for simple tilegraph search")
}
if path == nil {
t.Fatalf("A* fails to find path for for simple tilegraph search")
} else {
correctPath := []int{1, 2, 6, 10, 14}
if len(path) != len(correctPath) {
t.Fatalf("Astar returns wrong length path for simple tilegraph search")
}
for i, node := range path {
if node.ID() != correctPath[i] {
t.Errorf("Astar returns wrong path at step", i, "got:", node, "actual:", correctPath[i])
}
}
}
}
func TestObstructedAStar(t *testing.T) {
tg := concrete.NewTileGraph(10, 10, true)
// Creates a partial "wall" down the middle row with a gap down the left side
tg.SetPassability(4, 1, false)
tg.SetPassability(4, 2, false)
tg.SetPassability(4, 3, false)
tg.SetPassability(4, 4, false)
tg.SetPassability(4, 5, false)
tg.SetPassability(4, 6, false)
tg.SetPassability(4, 7, false)
tg.SetPassability(4, 8, false)
tg.SetPassability(4, 9, false)
rows, cols := tg.Dimensions()
path, cost1, expanded := search.AStar(concrete.Node(5), tg.CoordsToNode(rows-1, cols-1), tg, nil, nil)
if !search.IsPath(path, tg) {
t.Error("Path doesn't exist in obstructed graph")
}
ManhattanHeuristic := func(n1, n2 graph.Node) float64 {
id1, id2 := n1.ID(), n2.ID()
r1, c1 := tg.IDToCoords(id1)
r2, c2 := tg.IDToCoords(id2)
return math.Abs(float64(r1)-float64(r2)) + math.Abs(float64(c1)-float64(c2))
}
path, cost2, expanded2 := search.AStar(concrete.Node(5), tg.CoordsToNode(rows-1, cols-1), tg, nil, ManhattanHeuristic)
if !search.IsPath(path, tg) {
t.Error("Path doesn't exist when using heuristic on obstructed graph")
}
if math.Abs(cost1-cost2) > 1e-5 {
t.Error("Cost when using admissible heuristic isn't approximately equal to cost without it")
}
if expanded2 > expanded {
t.Error("Using admissible, consistent heuristic expanded more nodes than null heuristic (possible, but unlikely -- suggests an error somewhere)")
}
}
func TestNoPathAStar(t *testing.T) {
tg := concrete.NewTileGraph(5, 5, true)
// Creates a "wall" down the middle row
tg.SetPassability(2, 0, false)
tg.SetPassability(2, 1, false)
tg.SetPassability(2, 2, false)
tg.SetPassability(2, 3, false)
tg.SetPassability(2, 4, false)
rows, _ := tg.Dimensions()
path, _, _ := search.AStar(tg.CoordsToNode(0, 2), tg.CoordsToNode(rows-1, 2), tg, nil, nil)
if len(path) > 0 { // Note that a nil slice will return len of 0, this won't panic
t.Error("A* finds path where none exists")
}
}
func TestSmallAStar(t *testing.T) {
gg := newSmallGonumGraph()
heur := newSmallHeuristic()
if ok, edge, goal := monotonic(gg, heur); !ok {
t.Fatalf("non-monotonic heuristic. edge: %v goal: %v", edge, goal)
}
for _, start := range gg.NodeList() {
// get reference paths by Dijkstra
dPaths, dCosts := search.Dijkstra(start, gg, nil)
// assert that AStar finds each path
for goalID, dPath := range dPaths {
exp := fmt.Sprintln(dPath, dCosts[goalID])
aPath, aCost, _ := search.AStar(start, concrete.Node(goalID), gg, nil, heur)
got := fmt.Sprintln(aPath, aCost)
if got != exp {
t.Error("expected", exp, "got", got)
}
}
}
}
