2

tests/test_loop_q4.py

@@ -81,6 +81,43 @@ class FallbackClearCellsTests(unittest.TestCase):
         self.assertLessEqual(len(cells), bound)
 
 
+class ProbeLadderGeometryTests(unittest.TestCase):
+    """对跖复核探点几何：圆心对称点裁进保证接收盘，不得塌缩到圆心附近。"""
+
+    def _probe_after_block(self, region, blocked_point):
+        simulator = LocalSimulator([], robot_id="T001", config=CONFIG)
+        client = SimulatorClient("T001", config=CONFIG,
+                                 transport=LocalSimTransport(simulator))
+        client.enter()
+        loop = DirectionalExtension(client, CONFIG)
+        loop.blocked_probes[7] = [blocked_point]
+        return loop._next_probe(region, 7)
+
+    def test_antipode_reflects_blocked_probe_through_center(self):
+        """圆心为原点、原探点 (200,0)：对跖复核应返回 (-200,0)。"""
+        region = CandidateRegion.disk((0.0, 0.0), 100.0, 192)   # safe≈900>=200
+        probe = self._probe_after_block(region, (200.0, 0.0))
+        self.assertAlmostEqual(probe[0], -200.0, places=6)
+        self.assertAlmostEqual(probe[1], 0.0, places=6)
+
+    def test_antipode_clipped_into_safe_disk(self):
+        """原探点距离超过安全盘半径时：落在距圆心 safe 处的对跖方向上。"""
+        region = CandidateRegion.disk((0.0, 0.0), 900.0, 192)
+        safe = safe_disk_radius(region, CONFIG)
+        self.assertLess(safe, 200.0)
+        probe = self._probe_after_block(region, (200.0, 0.0))
+        self.assertAlmostEqual(math.hypot(probe[0], probe[1]), safe, places=6)
+        self.assertLess(probe[0], 0.0, "应位于原探点的对跖方向")
+
+    def test_degenerate_center_block_walks_full_safe_radius(self):
+        """被遮挡探点恰在圆心：沿 +x 走满安全盘半径，不再钳到 1m。"""
+        region = CandidateRegion.disk((0.0, 0.0), 100.0, 192)
+        probe = self._probe_after_block(region, (0.0, 0.0))
+        safe = safe_disk_radius(region, CONFIG)
+        self.assertAlmostEqual(probe[0], safe, places=6)
+        self.assertAlmostEqual(probe[1], 0.0, places=6)
+
+
 class MixedLoopAcceptanceTests(unittest.TestCase):
     def test_mixed_ten_sources_all_cleared(self):
         sources = mixed_scene(seed=5, count=10, directional=3)