Removed the subdir.

pyrate/tests/plan/geometry/primitives/test_locations.py

@@ -0,0 +1,173 @@
+"""Tests that the location classes in :mod:`pyrate.plan.geometry.location` work correctly."""
+
+# Python standard math
+from math import isclose
+
+# Typing
+from typing import cast
+
+# Generic testing
+from unittest import TestCase
+
+# Geometry
+from shapely.geometry import Point
+
+# Hypothesis testing
+from hypothesis import given
+from hypothesis import HealthCheck
+from hypothesis import settings
+import hypothesis.strategies as st
+
+# Package under test
+from pyrate.plan.geometry import CartesianLocation
+from pyrate.plan.geometry import PolarLocation
+
+# Test helpers
+from pyrate.common.testing.strategies.geometry import cartesian_locations
+from pyrate.common.testing.strategies.geometry import geo_bearings
+from pyrate.common.testing.strategies.geometry import polar_locations
+
+# Local test helpers
+from . import is_near_special_point
+from . import simple_property_only_few_examples
+
+
+class TestLocationConversion(TestCase):
+    """Test for correct runtime behaviour in :mod:`pyrate.plan` location and shape primitives."""
+
+    @given(cartesian_locations(origin=polar_locations()))
+    @settings(max_examples=20, suppress_health_check=(HealthCheck.data_too_large,))  # this is a slow test
+    def test_projection_and_back_projection_origin_in_route(
+        self, cartesian_location: CartesianLocation
+    ) -> None:
+        """Test the projection with an origin already being present in the geometry."""
+        recreated = cartesian_location.to_polar().to_cartesian(cast(PolarLocation, cartesian_location.origin))
+        self.assertTrue(recreated.equals_exact(recreated, tolerance=1e-6))
+
+    @given(cartesian_locations(origin=st.none()), polar_locations())
+    @simple_property_only_few_examples  # this only checks very simple additional logic
+    def test_projection_and_back_projection_origin_given_extra(
+        self, cartesian_location: CartesianLocation, origin: PolarLocation
+    ) -> None:
+        """Test the projection with an origin being provided."""
+        recreated = cartesian_location.to_polar(origin).to_cartesian(origin)
+        self.assertTrue(recreated.equals_exact(recreated, tolerance=1e-6))
+
+    @given(cartesian_locations(origin=st.none()))
+    @simple_property_only_few_examples  # this only checks very simple additional logic
+    def test_projection_and_back_projection_origin_not_given(
+        self, cartesian_location: CartesianLocation
+    ) -> None:
+        """Test the projection with no origin being given."""
+        with self.assertRaises(ValueError):
+            cartesian_location.to_polar()
+
+    @given(cartesian_locations(origin=polar_locations()), polar_locations())
+    @simple_property_only_few_examples  # this only checks very simple additional logic
+    def test_projection_and_back_projection_origin_given_twice(
+        self, cartesian_location: CartesianLocation, origin: PolarLocation
+    ) -> None:
+        """Test the projection with ambiguous origin being provided."""
+        with self.assertRaises(ValueError):
+            cartesian_location.to_polar(origin)
+
+    def test_distance_measuring_specific(self) -> None:
+        """Tests a specific input/output pair."""
+
+        location_a = PolarLocation(latitude=55.6544, longitude=139.74477)
+        location_b = PolarLocation(latitude=21.4225, longitude=39.8261)
+        distance = location_a.distance(location_b, approximate=False)
+        self.assertAlmostEqual(distance, 8_665_850.116876071)
+
+    @given(
+        polar_locations(),
+        geo_bearings(),
+        st.floats(min_value=1.0, max_value=100_000.0, allow_nan=False, allow_infinity=False),
+    )
+    def test_translation_is_invertible(
+        self, original: PolarLocation, direction: float, distance: float
+    ) -> None:
+        """Tests that translation is invertible and a valid bearing is returned.
+
+        Warning:
+            Only tests in-depth in the case where latitudes and longitudes are not near the poles.
+        """
+
+        # translate
+        translated, back_direction = original.translate(direction, distance)
+        self.assertGreaterEqual(back_direction, 0.0)
+        self.assertLess(back_direction, 360.0)
+
+        # translate back
+        translated_translated, back_back_direction = translated.translate(back_direction, distance)
+        self.assertGreaterEqual(back_back_direction, 0.0)
+        self.assertLess(back_back_direction, 360.0)
+
+        # the method seems to have problems at poles
+        if not is_near_special_point(original) and not is_near_special_point(translated):
+            # the method is rather rough, so we want to add larger tolerances than usual while checking
+            self.assertTrue(isclose(direction, back_back_direction, abs_tol=1e-6))
+            self.assertTrue(original.equals_exact(translated_translated, 1e-6))
+
+    @given(cartesian_locations())
+    def test_from_shapely_conversion(self, cartesian_location: CartesianLocation) -> None:
+        """Test that :meth:`pyrate.plan.geometry.location.CartesianLocation.from_shapely` works."""
+
+        # we only want to compare the coordinates, so create a new instance without the identifier, name, etc.
+        bare = CartesianLocation(cartesian_location.x, cartesian_location.y)
+        bare_shapely = Point(cartesian_location.x, cartesian_location.y)
+        recreated = CartesianLocation.from_shapely(bare_shapely)
+        self.assertEqual(recreated, bare)
+
+
+class TestPolarLocationDistanceIsAMetric(TestCase):
+    """Makes sure that :meth:`~pyrate.plan.geometry.location.PolarLocation.distance` is a metric.
+
+    This should always succeed since we use a very stable external library for this.
+
+    See `Wikipedia <https://en.wikipedia.org/wiki/Metric_(mathematics)#Definition>`__ for the axioms.
+    """
+
+    @given(polar_locations(), polar_locations(), st.booleans())
+    def test_distance_measuring_commutes_and_sanity_checks(
+        self, location_a: PolarLocation, location_b: PolarLocation, approximate: bool
+    ) -> None:
+        """Assures flipping the sides when calculating distances does not make a significant difference."""
+
+        distance_1 = location_a.distance(location_b, approximate)
+        distance_2 = location_b.distance(location_a, approximate)
+
+        # make sure it commutes
+        self.assertAlmostEqual(distance_1, distance_2)
+
+        # make sure the distance is always positive
+        self.assertGreaterEqual(distance_1, 0.0)
+        self.assertGreaterEqual(distance_2, 0.0)
+
+    @given(polar_locations(), polar_locations(), polar_locations(), st.booleans())
+    def test_distance_measuring_triangle_inequality(
+        self,
+        location_a: PolarLocation,
+        location_b: PolarLocation,
+        location_c: PolarLocation,
+        approximate: bool,
+    ) -> None:
+        """Assures flipping the sides when calculating distances does not make a significant difference."""
+
+        distance_a_b = location_a.distance(location_b, approximate)
+        distance_b_c = location_b.distance(location_c, approximate)
+        distance_a_c = location_a.distance(location_c, approximate)
+
+        # allow for floating point errors
+        abs_tolerance = 1e-6  # 1 micro meter
+        self.assertGreaterEqual(distance_a_b + distance_b_c + abs_tolerance, distance_a_c)
+
+    @given(polar_locations(), st.booleans())
+    def test_distance_measuring_to_itself_is_zero(self, location: PolarLocation, approximate: bool) -> None:
+        """Assures flipping the sides when calculating distances does not make a significant difference."""
+
+        distance = location.distance(location, approximate)
+
+        # make sure the distance is always positive and very close to zero
+        self.assertGreaterEqual(distance, 0.0)
+        self.assertAlmostEqual(distance, 0.0)