AgentMotionTest.java

/*
 * $Id$
 * This file is a part of the Arakhne Foundation Classes, http://www.arakhne.org/afc
 *
 * Copyright (c) 2000-2012 Stephane GALLAND.
 * Copyright (c) 2005-10, Multiagent Team, Laboratoire Systemes et Transports,
 *                        Universite de Technologie de Belfort-Montbeliard.
 * Copyright (c) 2013-2016 The original authors, and other authors.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

package org.arakhne.afc.agentmotion;

import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertNotNull;
import static org.junit.Assert.assertTrue;

import org.junit.Test;

import org.arakhne.afc.math.AbstractMathTestCase;
import org.arakhne.afc.math.geometry.d2.d.Vector2d;

@SuppressWarnings("all")
public class AgentMotionTest extends AbstractMathTestCase {

	@Test
	public void testClone() {
		double x = getRandom().nextDouble();
		double y = getRandom().nextDouble();
		double r = getRandom().nextDouble();
		AgentMotion m = new AgentMotion(x, y, r);
		AgentMotion clone = m.clone();
		assertFpVectorEquals(x, y, clone.getLinear());
		assertEpsilonEquals(r, clone.getAngular());
	}

	@Test
	public void testEquals() {
		double x = getRandom().nextDouble();
		double y = getRandom().nextDouble();
		double r = getRandom().nextDouble();
		AgentMotion m = new AgentMotion(x, y, r);

		AgentMotion clone = m.clone();
		AgentMotion m2 = new AgentMotion(x, y, r);
		AgentMotion m3 = new AgentMotion(x, y, r + 1);
		
		assertTrue(clone.equals(m));
		assertTrue(m.equals(clone));
		assertTrue(m2.equals(m));
		assertTrue(m.equals(m2));
		assertFalse(m3.equals(m));
		assertFalse(m.equals(m3));
	}

	@Test
	public void getAngular() {
		double x = getRandom().nextDouble();
		double y = getRandom().nextDouble();
		double r = getRandom().nextDouble();
		AgentMotion m = new AgentMotion(x, y, r);
		assertEpsilonEquals(r, m.getAngular());
	}

	@Test
	public void getLinear() {
		double x = getRandom().nextDouble();
		double y = getRandom().nextDouble();
		double r = getRandom().nextDouble();
		AgentMotion m = new AgentMotion(x, y, r);
		assertFpVectorEquals(x, y, m.getLinear());
	}

	@Test
	public void operator_addAgentMotion() {
		double x1 = getRandom().nextDouble();
		double y1 = getRandom().nextDouble();
		double r1 = getRandom().nextDouble();
		double x2 = getRandom().nextDouble();
		double y2 = getRandom().nextDouble();
		double r2 = getRandom().nextDouble();
		AgentMotion m1 = new AgentMotion(x1, y1, r1);
		AgentMotion m2 = new AgentMotion(x2, y2, r2);
		
		m1.operator_add(m2);

		assertFpVectorEquals(x1 + x2, y1 + y2, m1.getLinear());
		assertEpsilonEquals(r1 + r2, m1.getAngular());

		assertFpVectorEquals(x2, y2, m2.getLinear());
		assertEpsilonEquals(r2, m2.getAngular());
	}

	@Test
	public void operator_addDouble() {
		double x1 = getRandom().nextDouble();
		double y1 = getRandom().nextDouble();
		double r1 = getRandom().nextDouble();
		double x2 = getRandom().nextDouble();
		double y2 = getRandom().nextDouble();
		double r2 = getRandom().nextDouble();
		AgentMotion m1 = new AgentMotion(x1, y1, r1);
		AgentMotion m2 = new AgentMotion(x2, y2, r2);
		
		m1.operator_add(r2);

		assertFpVectorEquals(x1, y1, m1.getLinear());
		assertEpsilonEquals(r1 + r2, m1.getAngular());

		assertFpVectorEquals(x2, y2, m2.getLinear());
		assertEpsilonEquals(r2, m2.getAngular());
	}

	@Test
	public void operator_addVector2D() {
		double x1 = getRandom().nextDouble();
		double y1 = getRandom().nextDouble();
		double r1 = getRandom().nextDouble();
		double x2 = getRandom().nextDouble();
		double y2 = getRandom().nextDouble();
		double r2 = getRandom().nextDouble();
		AgentMotion m1 = new AgentMotion(x1, y1, r1);
		AgentMotion m2 = new AgentMotion(x2, y2, r2);
		
		m1.operator_add(new Vector2d(x2, y2));

		assertFpVectorEquals(x1 + x2, y1 + y2, m1.getLinear());
		assertEpsilonEquals(r1, m1.getAngular());

		assertFpVectorEquals(x2, y2, m2.getLinear());
		assertEpsilonEquals(r2, m2.getAngular());
	}

	@Test
	public void operator_minusAgentMotion() {
		double x1 = getRandom().nextDouble();
		double y1 = getRandom().nextDouble();
		double r1 = getRandom().nextDouble();
		double x2 = getRandom().nextDouble();
		double y2 = getRandom().nextDouble();
		double r2 = getRandom().nextDouble();
		AgentMotion m1 = new AgentMotion(x1, y1, r1);
		AgentMotion m2 = new AgentMotion(x2, y2, r2);
		
		AgentMotion o = m1.operator_minus(m2);

		assertNotNull(o);

		assertFpVectorEquals(x1, y1, m1.getLinear());
		assertEpsilonEquals(r1, m1.getAngular());

		assertFpVectorEquals(x2, y2, m2.getLinear());
		assertEpsilonEquals(r2, m2.getAngular());

		assertFpVectorEquals(x1 - x2, y1 - y2, o.getLinear());
		assertEpsilonEquals(r1 - r2, o.getAngular());
	}

	@Test
	public void operator_minusDouble() {
		double x1 = getRandom().nextDouble();
		double y1 = getRandom().nextDouble();
		double r1 = getRandom().nextDouble();
		double x2 = getRandom().nextDouble();
		double y2 = getRandom().nextDouble();
		double r2 = getRandom().nextDouble();
		AgentMotion m1 = new AgentMotion(x1, y1, r1);
		AgentMotion m2 = new AgentMotion(x2, y2, r2);
		
		AgentMotion o = m1.operator_minus(r2);

		assertNotNull(o);

		assertFpVectorEquals(x1, y1, m1.getLinear());
		assertEpsilonEquals(r1, m1.getAngular());

		assertFpVectorEquals(x2, y2, m2.getLinear());
		assertEpsilonEquals(r2, m2.getAngular());

		assertFpVectorEquals(x1, y1, o.getLinear());
		assertEpsilonEquals(r1 - r2, o.getAngular());
	}

	@Test
	public void operator_minusVector2D() {
		double x1 = getRandom().nextDouble();
		double y1 = getRandom().nextDouble();
		double r1 = getRandom().nextDouble();
		double x2 = getRandom().nextDouble();
		double y2 = getRandom().nextDouble();
		double r2 = getRandom().nextDouble();
		AgentMotion m1 = new AgentMotion(x1, y1, r1);
		AgentMotion m2 = new AgentMotion(x2, y2, r2);
		
		AgentMotion o = m1.operator_minus(new Vector2d(x2, y2));

		assertNotNull(o);

		assertFpVectorEquals(x1, y1, m1.getLinear());
		assertEpsilonEquals(r1, m1.getAngular());

		assertFpVectorEquals(x2, y2, m2.getLinear());
		assertEpsilonEquals(r2, m2.getAngular());

		assertFpVectorEquals(x1 - x2, y1 - y2, o.getLinear());
		assertEpsilonEquals(r1, o.getAngular());
	}

	@Test
	public void operator_plusAgentMotion() {
		double x1 = getRandom().nextDouble();
		double y1 = getRandom().nextDouble();
		double r1 = getRandom().nextDouble();
		double x2 = getRandom().nextDouble();
		double y2 = getRandom().nextDouble();
		double r2 = getRandom().nextDouble();
		AgentMotion m1 = new AgentMotion(x1, y1, r1);
		AgentMotion m2 = new AgentMotion(x2, y2, r2);
		
		AgentMotion o = m1.operator_plus(m2);

		assertNotNull(o);

		assertFpVectorEquals(x1, y1, m1.getLinear());
		assertEpsilonEquals(r1, m1.getAngular());

		assertFpVectorEquals(x2, y2, m2.getLinear());
		assertEpsilonEquals(r2, m2.getAngular());

		assertFpVectorEquals(x1 + x2, y1 + y2, o.getLinear());
		assertEpsilonEquals(r1 + r2, o.getAngular());
	}

	@Test
	public void operator_plusDouble() {
		double x1 = getRandom().nextDouble();
		double y1 = getRandom().nextDouble();
		double r1 = getRandom().nextDouble();
		double x2 = getRandom().nextDouble();
		double y2 = getRandom().nextDouble();
		double r2 = getRandom().nextDouble();
		AgentMotion m1 = new AgentMotion(x1, y1, r1);
		AgentMotion m2 = new AgentMotion(x2, y2, r2);
		
		AgentMotion o = m1.operator_plus(r2);

		assertNotNull(o);

		assertFpVectorEquals(x1, y1, m1.getLinear());
		assertEpsilonEquals(r1, m1.getAngular());

		assertFpVectorEquals(x2, y2, m2.getLinear());
		assertEpsilonEquals(r2, m2.getAngular());

		assertFpVectorEquals(x1, y1, o.getLinear());
		assertEpsilonEquals(r1 + r2, o.getAngular());
	}

	@Test
	public void operator_plusVector2D() {
		double x1 = getRandom().nextDouble();
		double y1 = getRandom().nextDouble();
		double r1 = getRandom().nextDouble();
		double x2 = getRandom().nextDouble();
		double y2 = getRandom().nextDouble();
		double r2 = getRandom().nextDouble();
		AgentMotion m1 = new AgentMotion(x1, y1, r1);
		AgentMotion m2 = new AgentMotion(x2, y2, r2);
		
		AgentMotion o = m1.operator_plus(new Vector2d(x2, y2));

		assertNotNull(o);

		assertFpVectorEquals(x1, y1, m1.getLinear());
		assertEpsilonEquals(r1, m1.getAngular());

		assertFpVectorEquals(x2, y2, m2.getLinear());
		assertEpsilonEquals(r2, m2.getAngular());

		assertFpVectorEquals(x1 + x2, y1 + y2, o.getLinear());
		assertEpsilonEquals(r1, o.getAngular());
	}

	@Test
	public void operator_removeAgentMotion() {
		double x1 = getRandom().nextDouble();
		double y1 = getRandom().nextDouble();
		double r1 = getRandom().nextDouble();
		double x2 = getRandom().nextDouble();
		double y2 = getRandom().nextDouble();
		double r2 = getRandom().nextDouble();
		AgentMotion m1 = new AgentMotion(x1, y1, r1);
		AgentMotion m2 = new AgentMotion(x2, y2, r2);
		
		m1.operator_remove(m2);

		assertFpVectorEquals(x1 - x2, y1 - y2, m1.getLinear());
		assertEpsilonEquals(r1 - r2, m1.getAngular());

		assertFpVectorEquals(x2, y2, m2.getLinear());
		assertEpsilonEquals(r2, m2.getAngular());
	}

	@Test
	public void operator_removeDouble() {
		double x1 = getRandom().nextDouble();
		double y1 = getRandom().nextDouble();
		double r1 = getRandom().nextDouble();
		double x2 = getRandom().nextDouble();
		double y2 = getRandom().nextDouble();
		double r2 = getRandom().nextDouble();
		AgentMotion m1 = new AgentMotion(x1, y1, r1);
		AgentMotion m2 = new AgentMotion(x2, y2, r2);
		
		m1.operator_remove(r2);

		assertFpVectorEquals(x1, y1, m1.getLinear());
		assertEpsilonEquals(r1 - r2, m1.getAngular());

		assertFpVectorEquals(x2, y2, m2.getLinear());
		assertEpsilonEquals(r2, m2.getAngular());
	}

	@Test
	public void operator_removeVector2D() {
		double x1 = getRandom().nextDouble();
		double y1 = getRandom().nextDouble();
		double r1 = getRandom().nextDouble();
		double x2 = getRandom().nextDouble();
		double y2 = getRandom().nextDouble();
		double r2 = getRandom().nextDouble();
		AgentMotion m1 = new AgentMotion(x1, y1, r1);
		AgentMotion m2 = new AgentMotion(x2, y2, r2);
		
		m1.operator_remove(new Vector2d(x2, y2));

		assertFpVectorEquals(x1 - x2, y1 - y2, m1.getLinear());
		assertEpsilonEquals(r1, m1.getAngular());

		assertFpVectorEquals(x2, y2, m2.getLinear());
		assertEpsilonEquals(r2, m2.getAngular());
	}

	@Test
	public void setAgentMotion() {
		double x = getRandom().nextDouble();
		double y = getRandom().nextDouble();
		double r = getRandom().nextDouble();
		AgentMotion m1 = new AgentMotion(-15, -16, -17);
		AgentMotion m2 = new AgentMotion(x, y, r);
		
		m1.set(m2);

		assertFpVectorEquals(x, y, m1.getLinear());
		assertEpsilonEquals(r, m1.getAngular());

		assertFpVectorEquals(x, y, m2.getLinear());
		assertEpsilonEquals(r, m2.getAngular());
	}

	@Test
	public void setAngularAgentMotion() {
		double x = getRandom().nextDouble();
		double y = getRandom().nextDouble();
		double r = getRandom().nextDouble();
		AgentMotion m1 = new AgentMotion(-15, -16, -17);
		AgentMotion m2 = new AgentMotion(x, y, r);
		
		m1.setAngular(m2);

		assertFpVectorEquals(-15, -16, m1.getLinear());
		assertEpsilonEquals(r, m1.getAngular());

		assertFpVectorEquals(x, y, m2.getLinear());
		assertEpsilonEquals(r, m2.getAngular());
	}

	@Test
	public void setAngularDouble() {
		double r = getRandom().nextDouble();
		AgentMotion m = new AgentMotion(-15, -16, -17);
		
		m.setAngular(r);

		assertFpVectorEquals(-15, -16, m.getLinear());
		assertEpsilonEquals(r, m.getAngular());
	}

	@Test
	public void setLinearAgentMotion() {
		double x = getRandom().nextDouble();
		double y = getRandom().nextDouble();
		double r = getRandom().nextDouble();
		AgentMotion m1 = new AgentMotion(-15, -16, -17);
		AgentMotion m2 = new AgentMotion(x, y, r);
		
		m1.setLinear(m2);

		assertFpVectorEquals(x, y, m1.getLinear());
		assertEpsilonEquals(-17, m1.getAngular());

		assertFpVectorEquals(x, y, m2.getLinear());
		assertEpsilonEquals(r, m2.getAngular());
	}

	@Test
	public void setLinearDoubleDouble() {
		double x = getRandom().nextDouble();
		double y = getRandom().nextDouble();
		AgentMotion m = new AgentMotion(-15, -16, -17);
		
		m.setLinear(x, y);

		assertFpVectorEquals(x, y, m.getLinear());
		assertEpsilonEquals(-17, m.getAngular());
	}

	@Test
	public void setLinearVector2D() {
		double x = getRandom().nextDouble();
		double y = getRandom().nextDouble();
		AgentMotion m = new AgentMotion(-15, -16, -17);
		
		m.setLinear(new Vector2d(x, y));

		assertFpVectorEquals(x, y, m.getLinear());
		assertEpsilonEquals(-17, m.getAngular());
	}

}