private String runAssertionsWithoutOcclusion(VisibilityGraphsUnitTestDataset dataset)
{
String datasetName = dataset.getDatasetName();
PlanarRegionsList planarRegionsList = dataset.getPlanarRegionsList();
Point3D start = dataset.getStart();
Point3D goal = dataset.getGoal();
if (VISUALIZE)
{
messager.submitMessage(UIVisibilityGraphsTopics.PlanarRegionData, planarRegionsList);
messager.submitMessage(UIVisibilityGraphsTopics.StartPosition, start);
messager.submitMessage(UIVisibilityGraphsTopics.GoalPosition, goal);
}
String errorMessages = calculateAndTestVizGraphsBodyPath(datasetName, start, goal, planarRegionsList);
return addPrefixToErrorMessages(datasetName, errorMessages);
}