/
unit_test.py
1228 lines (927 loc) · 40.4 KB
/
unit_test.py
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import numpy as np
import matplotlib.pyplot as plt
import yaml
import utils
import robots as rb
# test if points within the range with no offset remain unchanged
def test_utils_wrap_pt_1():
pt = [0,0]
w, h = 500, 500
assert utils.wrap_pt(pt,w,h) == [0,0], "wrap_pt test1 failed"
pt = [100,0]
w, h = 500, 500
assert utils.wrap_pt(pt,w,h) == [100,0], "wrap_pt test1 failed"
pt = [250,250]
w, h = 500, 500
assert utils.wrap_pt(pt,w,h) == [250,250], "wrap_pt test1 failed"
pt = [499,300]
w, h = 500, 500
assert utils.wrap_pt(pt,w,h) == [499,300], "wrap_pt test1 failed"
# test if points outside of the range get wrapped correctly with no offset
def test_utils_wrap_pt_2():
pt = [600,0]
w, h = 500, 500
new_pt = utils.wrap_pt(pt,w,h)
assert new_pt == [100,0], "wrap_pt test2 gave"+str(new_pt)+"instead of [100, 0]"
pt = [0,600]
new_pt = utils.wrap_pt(pt,w,h)
assert new_pt == [0,100], "wrap_pt test2 gave"+str(new_pt)+"instead of [0, 100]"
pt = [-300,0]
new_pt = utils.wrap_pt(pt,w,h)
assert new_pt == [200,0], "wrap_pt test2 gave"+str(new_pt)+"instead of [200, 0]"
pt = [w,-100]
new_pt = utils.wrap_pt(pt,w,h)
assert new_pt == [w,400], "wrap_pt test2 gave"+str(new_pt)+"instead of [500, 400]"
def test_utils_load_global_config():
d = {'world' :
{'sim_time' : 200,
'screen_size' : 500},
'robot' :
{'num_robots' : 20,
'robot_vel' : 4,
'lim_distance' : 100,
'lim_angle' : 0.25,
'angle_incr' : 0.01,
'rep_range' : 0,
'rep_factor' : 3,
'lightscale' : 1}}
with open('configs/test_config.yaml', 'w') as yaml_file:
yaml.dump(d, yaml_file, default_flow_style=False)
sim_time, ss, num = utils.load_global_config('configs/test_config.yaml')
assert sim_time == 200, "load_global_config test1 failed"
assert ss == 500, "load_global_config test1 failed"
assert num == 20, "load_global_config test1 failed"
# TODO: implement
def test_utils_load_robot_config():
pass
# TODO: implement
def test_utils_load_behavior_config():
pass
# TODO: implement
def test_utils_setup_big_arrays_1():
# init robots
robots = test_robots_init()
# setup test parameters
robots.coords = np.array([[0,0],[10,0],[0,10]])
robots.angles = np.array([np.pi/2,np.pi/4,np.pi/4])
robots.lights = np.array([255,255,255])
robots.lim_angle = np.pi/2
robots.directional_light = 1
robots.num = 3
big_coords, big_lights, big_angles = utils.setup_big_arrays(robots)
assert np.array_equal(big_coords,np.array([[0,0],[10,0],[0,10],[500,0],[510,0],[500,10],[0,500],[10,500],[0,510],[-500,0],[-490,0],[-500,10],[0,-500],[10,-500],[0,-490]]))
assert np.array_equal(big_lights,np.full(15,255))
assert np.array_equal(big_angles,np.array([np.pi/2,np.pi/4,np.pi/4]*5))
# TODO: implement
def test_utils_setup_big_arrays_2():
pass
# basic test
def test_utils_bounce_1():
edge = ((-10,0),(10,0))
prev_c = np.array([-1,np.sqrt(3)])
new_c = np.array([1,-np.sqrt(3)])
angle = utils.bounce(edge, prev_c, new_c)
np.testing.assert_almost_equal(angle, np.pi/3.)
def test_utils_bounce_2():
edge = ((-10,0),(10,0))
prev_c = np.array([0,-1])
new_c = np.array([0,1])
angle = utils.bounce(edge, prev_c, new_c)
a = angle % (2*np.pi)
np.testing.assert_almost_equal(a, 3*np.pi/2.)
def test_utils_bounce_3():
edge = ((-10,0),(10,0)) # edge along x axis
prev_c = np.array([1,-1])
new_c = np.array([-1,1]) # should bounce at 45 degrees
angle = utils.bounce(edge, prev_c, new_c)
a = angle % (2*np.pi)
a_correct = (5*np.pi/4)
np.testing.assert_almost_equal(a, a_correct)
def test_utils_inpoly_1():
poly = [[-100, -100], [100, -100], [100, 100], [-100, 100]]
pt_in = [0,0]
pt_out = [0, 400]
retval1, data1 = utils.IsInPolyNoHoles(pt_in, poly, theta = np.pi/2+0.01)
retval2, data2 = utils.IsInPolyNoHoles(pt_out, poly, theta = np.pi/2+0.01)
edge = [data1[0][1], data1[0][2]] # data is a list of lists
assert retval1 == True
assert retval2 == False
assert np.array_equal(np.array(edge), np.array([[100,100],[-100,100]]))
def test_utils_inpoly_2():
poly = [[200,200], [300, 200], [300, 300], [200, 300]]
pt_in = [295, 285]
retval, data = utils.IsInPolyNoHoles(pt_in, poly, theta = np.random.random()*2*np.pi)
assert retval == True
################### ROBOT TESTS ##############################
def test_robots_init():
global_filename = "configs/global_config.yaml"
c_filename = "configs/aggression.yaml"
type = "omni_omni"
sim_time, ss, num = utils.load_global_config(global_filename)
# init robots
robots = rb.Robots(global_filename, c_filename, type, ss)
robots.lim_distance = 200
return robots
# test basic calc
def test_robots_distance_calc_1():
robots = test_robots_init()
coords = np.array([[0,0],[100,0],[150,0]])
c = np.array([0,0])
diff = coords - c
inv_distances, valid_dist_ind, distances = robots.distance_calc(diff, 0, robots.lim_distance)
assert np.array_equal(inv_distances,np.array([0.,0.75,0.4375]))
assert np.array_equal(valid_dist_ind,np.array([1,2]))
# test robot out of bounds
def test_robots_distance_calc_2():
robots = test_robots_init()
coords = np.array([[0,0],[50,0],[100,0],[400,0],[0,200]])
c = np.array([0,0])
diff = coords - c
inv_distances, valid_dist_ind, distances = robots.distance_calc(diff, 0, robots.lim_distance)
assert np.array_equal(inv_distances,np.array([0,0.9375,0.75,0,0]))
assert np.array_equal(valid_dist_ind,np.array([1,2]))
# test distnace in different direction, nonzero starting value
def test_robots_distance_calc_3():
robots = test_robots_init()
coords = np.array([[100,0],[150,0],[175,0],[500,0],[0,0]])
c = np.array([100,0])
diff = coords - c
inv_distances, valid_dist_ind, distances = robots.distance_calc(diff, 0, robots.lim_distance)
assert np.array_equal(inv_distances,np.array([0,0.9375,0.859375,0,0.75]))
assert np.array_equal(valid_dist_ind,np.array([1,2,4]))
# TODO: implement, test distance around torus
def test_robots_distance_calc_4():
robots = test_robots_init()
robots.coords = np.array([[0,0],[100,0],[150,0]])
c = np.array([0,0])
big_coords, big_lights, big_angles = utils.setup_big_arrays(robots)
diff = big_coords - c
inv_distances, valid_dist_ind, distances = robots.distance_calc(diff, 0, robots.lim_distance)
# assert np.array_equal(inv_distances,np.array([0.,0.75,0.4375]))
# assert np.array_equal(valid_dist_ind,np.array([1,2]))
def test_robots_coords_above_below():
robots = test_robots_init()
robots.num = 3
coords = np.array([[0,0],[100,100],[150,150]])
r = 1
diff = coords[:] - coords[r]
th_coords = np.arctan2(diff[:,1],diff[:,0]) % (2*np.pi)
above, below = robots.agents_above_below(r, th_coords)
assert np.array_equal(above, np.array([2]))
assert np.array_equal(below, np.array([0]))
# test headings only
def test_robots_valid_angle_1():
robots = test_robots_init()
robots.lim_angle = np.pi/4
robots.num = 2
coords = np.array([[0,0],[0,10]])
angles = np.array([np.pi/2,np.pi/2])
r = 0
c = np.array([0,0])
diff = coords - c
valid_leader, valid_follower, beta = robots.valid_angle(diff, r, robots.lim_angle, coords, angles)
# print(valid_leader)
# print(valid_follower)
assert np.array_equal(valid_leader, np.array([1]))
assert np.array_equal(valid_follower, np.array([1]))
# test leader header and follower header mismatch
def test_robots_valid_angle_2():
robots = test_robots_init()
robots.lim_angle = np.pi/4
robots.num = 2
coords = np.array([[0,0],[0,10]])
angles = np.array([0,np.pi/2])
r = 0
c = np.array([0,0])
diff = coords - c
valid_leader, valid_follower, beta = robots.valid_angle(diff, r, robots.lim_angle, coords, angles)
# print(valid_leader)
# print(valid_follower)
assert np.array_equal(valid_leader, np.array([1]))
assert np.array_equal(valid_follower, np.array([]))
# test heading and coords successful
def test_robots_valid_angle_3():
robots = test_robots_init()
robots.lim_angle = np.pi/4
robots.num = 2
coords = np.array([[0,0],[10,10*np.sqrt(3)]])
angles = np.array([np.pi/2,np.pi/3])
r = 0
c = np.array([0,0])
diff = coords - c
valid_leader, valid_follower, beta = robots.valid_angle(diff, r, robots.lim_angle, coords, angles)
# print("results")
# print(valid_leader)
# print(valid_follower)
assert np.array_equal(valid_leader, np.array([1]))
assert np.array_equal(valid_follower, np.array([1]))
# test heading and coords unsuccessful
def test_robots_valid_angle_4():
robots = test_robots_init()
robots.lim_angle = np.pi/4
robots.num = 2
coords = np.array([[0,0],[0,10]])
angles = np.array([np.pi/2,3*np.pi/4])
r = 0
c = np.array([0,0])
diff = coords - c
valid_leader, valid_follower, beta = robots.valid_angle(diff, r, robots.lim_angle, coords, angles)
# print("results")
# print(valid_leader)
# print(valid_follower)
assert np.array_equal(valid_leader, np.array([1]))
assert np.array_equal(valid_follower, np.array([1]))
# test calc on normal, directional light, headings only
def test_robots_angle_calc_1():
robots = test_robots_init()
# setup test parameters
robots.coords = np.array([[0,0],[0,10],[0,10]])
robots.angles = np.array([np.pi/2,np.pi/3,0])
robots.lights = np.array([255,255,255])
robots.lim_angle = np.pi/3
robots.directional_light = 1
robots.num = 3
big_coords, big_lights, big_angles = utils.setup_big_arrays(robots)
c = np.array([0,0])
diff = big_coords - c
angle_scale, valid_angle_ind = robots.angle_calc(diff, 0, robots.lim_angle, big_coords, big_angles)
# print(angle_scale)
# print(valid_angle_ind)
assert np.allclose(angle_scale[0:2],np.array([0,1])) # this is necessary so that I can input 1/3 and it works instead of matching the exact number of 3's in 0.33333
assert np.array_equal(valid_angle_ind[valid_angle_ind<=2],np.array([1]))
# test lantern light
def test_robots_angle_calc_2():
robots = test_robots_init()
# setup test parameters
robots.coords = np.array([[0,0],[0,10],[0,10]])
robots.angles = np.array([np.pi/2,np.pi/4,0])
robots.lights = np.array([255,255,255])
robots.directional_light = 0
robots.full_omni = 1
robots.num = 3
# robots.lim_angle = 0.5
big_coords, big_lights, big_angles = utils.setup_big_arrays(robots)
c = np.array([0,0])
diff = big_coords - c
angle_scale, valid_angle_ind = robots.angle_calc(diff, 0, robots.lim_angle, big_coords, big_angles)
# print(angle_scale)
# print(np.full(robots.num*5,1))
# print(valid_angle_ind)
# print(np.arange(0,robots.num*5))
assert np.array_equal(angle_scale,np.full(robots.num*5,1))
assert np.array_equal(valid_angle_ind,np.arange(0,robots.num*5),1)
# test directional same heading coordinate only
def test_robots_angle_calc_3():
robots = test_robots_init()
# setup test parameters
robots.coords = np.array([[0,0],[5,5],[5,5*np.sqrt(3)]])
robots.angles = np.array([np.pi/2,np.pi/2,np.pi/2])
robots.lights = np.array([255,255,255])
robots.lim_angle = np.pi/2
robots.directional_light = 1
robots.num = 3
big_coords, big_lights, big_angles = utils.setup_big_arrays(robots)
c = np.array([0,0])
diff = big_coords - c
# angles are 0, 45, 60
angle_scale, valid_angle_ind = robots.angle_calc(diff, 0, robots.lim_angle, big_coords, big_angles)
# print(angle_scale)
# print(valid_angle_ind)
# assert np.allclose(angle_scale[0:3],np.array([0,1,2]))
assert np.allclose(angle_scale[0:3],np.array([0,0.75,8/9]))
assert np.array_equal(valid_angle_ind[valid_angle_ind<=2],np.array([1,2]))
# test directional heading and coordinate
def test_robots_angle_calc_4():
robots = test_robots_init()
# setup test parameters
robots.coords = np.array([[0,0],[5,5],[5,5*np.sqrt(3)]])
robots.angles = np.array([np.pi/2,7*np.pi/12,5*np.pi/12])
robots.lights = np.array([255,255,255])
robots.lim_angle = np.pi/2
robots.directional_light = 1
robots.num = 3
big_coords, big_lights, big_angles = utils.setup_big_arrays(robots)
c = np.array([0,0])
diff = big_coords - c
# coord angles are 0, pi/4, pi/3, heading angles pi/12, -pi/12
angle_scale, valid_angle_ind = robots.angle_calc(diff, 0, robots.lim_angle, big_coords, big_angles)
# print(angle_scale)
# print(valid_angle_ind)
assert np.allclose(angle_scale[0:3],np.array([0,0.75,8/9]))
assert np.array_equal(valid_angle_ind[valid_angle_ind<=2],np.array([1,2]))
# test coords with wrapping
def test_robots_angle_calc_5():
robots = test_robots_init()
# setup test parameters
robots.coords = np.array([[0,0],[10,0],[0,10]])
robots.angles = np.array([np.pi/2,np.pi/2,np.pi/2])
robots.lights = np.array([255,255,255])
robots.lim_angle = 4*np.pi/9
robots.directional_light = 1
robots.num = 3
big_coords, big_lights, big_angles = utils.setup_big_arrays(robots)
c = np.array([0,0])
diff = big_coords - c
angle_scale, valid_angle_ind = robots.angle_calc(diff, 0, robots.lim_angle, big_coords, big_angles)
# print(valid_angle_ind)
assert np.array_equal(valid_angle_ind,np.array([2,6,7,8])) # [2,5,6,7,8,11] was originally correct, should double check this
# test directional same heading coordinate only, with different starting angle
def test_robots_angle_calc_6():
robots = test_robots_init()
# setup test parameters
robots.coords = np.array([[0,0],[5,5],[5,5*np.sqrt(3)]])
robots.angles = np.array([np.pi/4,np.pi/4,np.pi/4])
robots.lights = np.array([255,255,255])
robots.lim_angle = np.pi/2
robots.directional_light = 1
robots.num = 3
big_coords, big_lights, big_angles = utils.setup_big_arrays(robots)
c = np.array([0,0])
diff = big_coords - c
# angles are 0, 45, 60
angle_scale, valid_angle_ind = robots.angle_calc(diff, 0, robots.lim_angle, big_coords, big_angles)
# assert np.allclose(angle_scale[0:3],np.array([0,1,2]))
assert np.allclose(angle_scale[0:3],np.array([0,1,35/36]))
assert np.array_equal(valid_angle_ind[valid_angle_ind<=2],np.array([1,2]))
# tests several parts of the angle calc for different configurations
def test_robots_more_angle_tests_1():
robots = test_robots_init()
# setup test parameters
robots.coords = np.array([[0,0],[10,0]])
robots.angles = np.array([0,0])
th_coords = np.array([0,0]) # theta_C - the angle from follower to leader in global frame [0,2pi]
robots.lights = np.array([255,255])
robots.lim_angle = np.pi/3
robots.directional_light = 1
robots.num = 2
c = np.array([0,0])
diff = robots.coords - c
beta = robots.calc_beta(0, robots.angles, th_coords)
alpha = robots.calc_alpha(1, robots.angles, th_coords)
angle_scale, valid_angle_ind = robots.angle_calc(diff, 0, robots.lim_angle, robots.coords, robots.angles)
# assert np.allclose(angle_scale[0:3],np.array([0,1,2]))
assert beta[1] == 0
assert alpha[1] == np.pi
assert np.array_equal(valid_angle_ind[valid_angle_ind<=1],np.array([1]))
assert np.allclose(angle_scale[1:2],np.array([1]))
# tests several parts of the angle calc for different configurations
def test_robots_more_angle_tests_2():
robots = test_robots_init()
# setup test parameters
robots.coords = np.array([[0,0],[10,0]])
robots.angles = np.array([np.pi/2,np.pi/2])
th_coords = np.array([0,0]) # theta_C = the angle from follower to leader in global frame [0,2pi]
robots.lights = np.array([255,255])
robots.lim_angle = np.pi/3
robots.directional_light = 1
robots.num = 2
c = np.array([0,0])
diff = robots.coords - c
beta = robots.calc_beta(0, robots.angles, th_coords)
alpha = robots.calc_alpha(1, robots.angles, th_coords)
angle_scale, valid_angle_ind = robots.angle_calc(diff, 0, robots.lim_angle, robots.coords, robots.angles)
# print(alpha)
# assert np.allclose(angle_scale[0:3],np.array([0,1,2]))
assert beta[1] == -np.pi/2
assert alpha[1] == np.pi/2
assert np.array_equal(valid_angle_ind[valid_angle_ind<=1],np.array([]))
# assert np.allclose(angle_scale[1:2],np.array([1]))
# tests several parts of the angle calc for different configurations
def test_robots_more_angle_tests_3():
robots = test_robots_init()
# setup test parameters
robots.coords = np.array([[0,0],[10,0]])
robots.angles = np.array([-np.pi/3,-np.pi/3])
th_coords = np.array([0,0]) # theta_C - the angle from follower to leader in global frame [0,2pi]
robots.lights = np.array([255,255])
robots.lim_angle = np.pi/3
robots.directional_light = 1
robots.num = 2
c = np.array([0,0])
diff = robots.coords - c
beta = robots.calc_beta(0, robots.angles, th_coords)
alpha = robots.calc_alpha(1, robots.angles, th_coords)
angle_scale, valid_angle_ind = robots.angle_calc(diff, 0, robots.lim_angle, robots.coords, robots.angles)
# assert np.allclose(angle_scale[0:3],np.array([0,1,2]))
assert beta[1] == np.pi/3
assert np.isclose(alpha[1],-2*np.pi/3)
assert np.array_equal(valid_angle_ind[valid_angle_ind<=1],np.array([1]))
assert np.allclose(angle_scale[1:2],np.array([0]))
# tests several parts of the angle calc for different configurations
def test_robots_more_angle_tests_4():
robots = test_robots_init()
# setup test parameters
robots.coords = np.array([[0,0],[0,10]])
th_coords = np.array([0,np.pi/2]) # theta_C - the angle from follower to leader in global frame [0,2pi]
robots.angles = np.array([0,0])
robots.lights = np.array([255,255])
robots.lim_angle = np.pi/3
robots.directional_light = 1
robots.num = 2
c = np.array([0,0])
diff = robots.coords - c
beta = robots.calc_beta(0, robots.angles, th_coords)
alpha = robots.calc_alpha(1, robots.angles, th_coords)
angle_scale, valid_angle_ind = robots.angle_calc(diff, 0, robots.lim_angle, robots.coords, robots.angles)
# assert np.allclose(angle_scale[0:3],np.array([0,1,2]))
assert beta[1] == np.pi/2
assert alpha[1] == -np.pi/2
assert np.array_equal(valid_angle_ind[valid_angle_ind<=1],np.array([]))
# assert np.allclose(angle_scale[1:2],np.array([1]))
# tests several parts of the angle calc for different configurations
def test_robots_more_angle_tests_5():
robots = test_robots_init()
# setup test parameters
robots.coords = np.array([[0,0],[0,10]])
th_coords = np.array([0,np.pi/2]) # theta_C - the angle from follower to leader in global frame [0,2pi]
robots.angles = np.array([np.pi/3,np.pi/3])
robots.lights = np.array([255,255])
robots.lim_angle = np.pi/3
robots.directional_light = 1
robots.num = 2
c = np.array([0,0])
diff = robots.coords - c
beta = robots.calc_beta(0, robots.angles, th_coords)
alpha = robots.calc_alpha(1, robots.angles, th_coords)
angle_scale, valid_angle_ind = robots.angle_calc(diff, 0, robots.lim_angle, robots.coords, robots.angles)
# print(angle_scale)
# assert np.allclose(angle_scale[0:3],np.array([0,1,2]))
assert np.isclose(beta[1],np.pi/6)
assert np.isclose(alpha[1],-5*np.pi/6)
assert np.array_equal(valid_angle_ind[valid_angle_ind<=1],np.array([1]))
assert np.allclose(angle_scale[1:2],np.array([0.75]))
# tests several parts of the angle calc for different configurations
def test_robots_more_angle_tests_6():
robots = test_robots_init()
# setup test parameters
robots.coords = np.array([[0,0],[0,10]])
th_coords = np.array([0,np.pi/2]) # theta_C - the angle from follower to leader in global frame [0,2pi]
robots.angles = np.array([2*np.pi/5,2*np.pi/5])
robots.lights = np.array([255,255])
robots.lim_angle = np.pi/3
robots.directional_light = 1
robots.num = 2
c = np.array([0,0])
diff = robots.coords - c
beta = robots.calc_beta(0, robots.angles, th_coords)
alpha = robots.calc_alpha(1, robots.angles, th_coords)
angle_scale, valid_angle_ind = robots.angle_calc(diff, 0, robots.lim_angle, robots.coords, robots.angles)
# assert np.allclose(angle_scale[0:3],np.array([0,1,2]))
assert beta[1] == np.pi/10
assert alpha[1] == -9*np.pi/10
assert np.array_equal(valid_angle_ind[valid_angle_ind<=1],np.array([1]))
assert np.allclose(angle_scale[1:2],np.array([0.91]))
# tests several parts of the angle calc for different configurations
def test_robots_more_angle_tests_7():
robots = test_robots_init()
# setup test parameters
robots.coords = np.array([[0,0],[5,5]])
th_coords = np.array([0,np.pi/4]) # theta_C - the angle from follower to leader in global frame [0,2pi]
robots.angles = np.array([np.pi/4,np.pi/2])
robots.lights = np.array([255,255])
robots.lim_angle = np.pi/3
robots.directional_light = 1
robots.num = 2
c = np.array([0,0])
diff = robots.coords - c
beta = robots.calc_beta(0, robots.angles, th_coords)
alpha = robots.calc_alpha(1, robots.angles, th_coords)
angle_scale, valid_angle_ind = robots.angle_calc(diff, 0, robots.lim_angle, robots.coords, robots.angles)
# print(alpha)
# assert np.allclose(angle_scale[0:3],np.array([0,1,2]))
assert beta[1] == 0
assert alpha[1] == 3*np.pi/4
assert np.array_equal(valid_angle_ind[valid_angle_ind<=1],np.array([1]))
assert np.allclose(angle_scale[1:2],np.array([1]))
# tests several parts of the angle calc for different configurations
def test_robots_more_angle_tests_8():
robots = test_robots_init()
# setup test parameters
robots.coords = np.array([[0,0],[5,5]])
th_coords = np.array([0,np.pi/4]) # theta_C - the angle from follower to leader in global frame [0,2pi]
robots.angles = np.array([np.pi/4,np.pi/8])
robots.lights = np.array([255,255])
robots.lim_angle = np.pi/3
robots.directional_light = 1
robots.num = 2
c = np.array([0,0])
diff = robots.coords - c
beta = robots.calc_beta(0, robots.angles, th_coords)
alpha = robots.calc_alpha(1, robots.angles, th_coords)
angle_scale, valid_angle_ind = robots.angle_calc(diff, 0, robots.lim_angle, robots.coords, robots.angles)
# assert np.allclose(angle_scale[0:3],np.array([0,1,2]))
assert beta[1] == 0
assert alpha[1] == -7*np.pi/8
assert np.array_equal(valid_angle_ind[valid_angle_ind<=1],np.array([1]))
assert np.allclose(angle_scale[1:2],np.array([1]))
def test_robots_more_angle_tests_9():
robots = test_robots_init()
# setup test parameters
robots.coords = np.array([[0,0],[-5,5]])
th_coords = np.array([0,3*np.pi/4]) # theta_C - the angle from follower to leader in global frame [0,2pi]
robots.angles = np.array([2*np.pi/3,2*np.pi/3])
robots.lights = np.array([255,255])
robots.lim_angle = np.pi/3
robots.directional_light = 1
robots.num = 2
c = np.array([0,0])
diff = robots.coords - c
beta = robots.calc_beta(0, robots.angles, th_coords)
# alpha = robots.calc_alpha(0, robots.angles, th_coords)
angle_scale, valid_angle_ind = robots.angle_calc(diff, 0, robots.lim_angle, robots.coords, robots.angles)
# assert np.allclose(angle_scale[0:3],np.array([0,1,2]))
assert np.isclose(beta[1],np.pi/12)
# assert alpha[1] == -11*np.pi/12
assert np.array_equal(valid_angle_ind[valid_angle_ind<=1],np.array([1]))
assert np.allclose(angle_scale[1:2],np.array([0.9375]))
# tests several parts of the angle calc for different configurations
def test_robots_more_angle_tests_10():
robots = test_robots_init()
# setup test parameters
robots.coords = np.array([[0,0],[-5,5]])
th_coords = np.array([0,3*np.pi/4]) # theta_C - the angle from follower to leader in global frame [0,2pi]
robots.angles = np.array([2*np.pi/3,3*np.pi/4])
robots.lights = np.array([255,255])
robots.lim_angle = np.pi/3
robots.directional_light = 1
robots.num = 2
c = np.array([0,0])
diff = robots.coords - c
beta = robots.calc_beta(0, robots.angles, th_coords)
# alpha = robots.calc_alpha(0, robots.angles, th_coords)
angle_scale, valid_angle_ind = robots.angle_calc(diff, 0, robots.lim_angle, robots.coords, robots.angles)
# print(beta)
# print(alpha)
# print(valid_angle_ind)
# assert np.allclose(angle_scale[0:3],np.array([0,1,2]))
assert np.isclose(beta[1],np.pi/12)
# assert alpha[1] == -11*np.pi/12
assert np.array_equal(valid_angle_ind[valid_angle_ind<=1],np.array([1]))
assert np.allclose(angle_scale[1:2],np.array([0.9375]))
# tests several parts of the angle calc for different configurations
def test_robots_more_angle_tests_11():
robots = test_robots_init()
# setup test parameters
robots.coords = np.array([[0,0],[-10,0]])
th_coords = np.array([0,np.pi]) # theta_C - the angle from follower to leader in global frame [0,2pi]
robots.angles = np.array([5*np.pi/6,np.pi/2])
robots.lights = np.array([255,255])
robots.lim_angle = np.pi/3
robots.directional_light = 1
robots.num = 2
c = np.array([0,0])
diff = robots.coords - c
beta = robots.calc_beta(0, robots.angles, th_coords)
# alpha = robots.calc_alpha(0, robots.angles, th_coords)
angle_scale, valid_angle_ind = robots.angle_calc(diff, 0, robots.lim_angle, robots.coords, robots.angles)
# print(beta)
# print(alpha)
# print(valid_angle_ind)
# assert np.allclose(angle_scale[0:3],np.array([0,1,2]))
assert np.isclose(beta[1],np.pi/6)
# assert alpha[1] == -11*np.pi/12
assert np.array_equal(valid_angle_ind[valid_angle_ind<=1],np.array([]))
# assert np.allclose(angle_scale[1:2],np.array([0.9375]))
# tests several parts of the angle calc for different configurations
def test_robots_more_angle_tests_12():
robots = test_robots_init()
# setup test parameters
robots.coords = np.array([[0,0],[-10,0]])
th_coords = np.array([0,np.pi]) # theta_C - the angle from follower to leader in global frame [0,2pi]
robots.angles = np.array([5*np.pi/6,np.pi])
robots.lights = np.array([255,255])
robots.lim_angle = np.pi/3
robots.directional_light = 1
robots.num = 2
c = np.array([0,0])
diff = robots.coords - c
beta = robots.calc_beta(0, robots.angles, th_coords)
# alpha = robots.calc_alpha(0, robots.angles, th_coords)
angle_scale, valid_angle_ind = robots.angle_calc(diff, 0, robots.lim_angle, robots.coords, robots.angles)
# print(beta)
# print(alpha)
# print(valid_angle_ind)
# assert np.allclose(angle_scale[0:3],np.array([0,1,2]))
assert np.isclose(beta[1],np.pi/6)
# assert alpha[1] == -11*np.pi/12
assert np.array_equal(valid_angle_ind[valid_angle_ind<=1],np.array([1]))
assert np.allclose(angle_scale[1:2],np.array([0.75]))
# tests several parts of the angle calc for different configurations
def test_robots_more_angle_tests_13():
robots = test_robots_init()
# setup test parameters
robots.coords = np.array([[0,0],[-5,-5]])
th_coords = np.array([0,5*np.pi/4]) # theta_C - the angle from follower to leader in global frame [0,2pi]
robots.angles = np.array([4*np.pi/3,4*np.pi/3])
robots.lights = np.array([255,255])
robots.lim_angle = np.pi/3
robots.directional_light = 1
robots.num = 2
c = np.array([0,0])
diff = robots.coords - c
beta = robots.calc_beta(0, robots.angles, th_coords)
# alpha = robots.calc_alpha(0, robots.angles, th_coords)
angle_scale, valid_angle_ind = robots.angle_calc(diff, 0, robots.lim_angle, robots.coords, robots.angles)
# print(beta)
# print(alpha)
# print(valid_angle_ind)
# assert np.allclose(angle_scale[0:3],np.array([0,1,2]))
assert np.isclose(beta[1],-np.pi/12)
# assert alpha[1] == -11*np.pi/12
assert np.array_equal(valid_angle_ind[valid_angle_ind<=1],np.array([1]))
assert np.allclose(angle_scale[1:2],np.array([0.9375]))
def test_robots_more_angle_tests_14():
robots = test_robots_init()
# setup test parameters
robots.coords = np.array([[0,0],[-5,-5]])
th_coords = np.array([0,5*np.pi/4]) # theta_C - the angle from follower to leader in global frame [0,2pi]
robots.angles = np.array([3*np.pi/2,5*np.pi/4])
robots.lights = np.array([255,255])
robots.lim_angle = np.pi/3
robots.directional_light = 1
robots.num = 2
c = np.array([0,0])
diff = robots.coords - c
beta = robots.calc_beta(0, robots.angles, th_coords)
# alpha = robots.calc_alpha(0, robots.angles, th_coords)
angle_scale, valid_angle_ind = robots.angle_calc(diff, 0, robots.lim_angle, robots.coords, robots.angles)
# print(beta)
# print(alpha)
# print(valid_angle_ind)
# assert np.allclose(angle_scale[0:3],np.array([0,1,2]))
assert np.isclose(beta[1],-np.pi/4)
# assert alpha[1] == -11*np.pi/12
assert np.array_equal(valid_angle_ind[valid_angle_ind<=1],np.array([1]))
assert np.allclose(angle_scale[1:2],np.array([0.4375]))
# tests several parts of the angle calc for different configurations
def test_robots_more_angle_tests_15():
robots = test_robots_init()
# setup test parameters
robots.coords = np.array([[0,0],[-5,-5]])
th_coords = np.array([0,5*np.pi/4]) # theta_C - the angle from follower to leader in global frame [0,2pi]
robots.angles = np.array([np.pi/4,np.pi/2])
robots.lights = np.array([255,255])
robots.lim_angle = np.pi/3
robots.directional_light = 1
robots.num = 2
c = np.array([0,0])
diff = robots.coords - c
beta = robots.calc_beta(0, robots.angles, th_coords)
# alpha = robots.calc_alpha(0, robots.angles, th_coords)
angle_scale, valid_angle_ind = robots.angle_calc(diff, 0, robots.lim_angle, robots.coords, robots.angles)
# print(beta)
# print(alpha)
# print(valid_angle_ind)
# assert np.allclose(angle_scale[0:3],np.array([0,1,2]))
assert np.isclose(beta[1],np.pi)
# assert alpha[1] == -11*np.pi/12
assert np.array_equal(valid_angle_ind[valid_angle_ind<=1],np.array([]))
# assert np.allclose(angle_scale[1:2],np.array([0.9375]))
# tests several parts of the angle calc for different configurations
def test_robots_more_angle_tests_16():
robots = test_robots_init()
# setup test parameters
robots.coords = np.array([[0,0],[0,-10]])
th_coords = np.array([0,3*np.pi/2]) # theta_C - the angle from follower to leader in global frame [0,2pi]
robots.angles = np.array([11*np.pi/8,7*np.pi/4])
robots.lights = np.array([255,255])
robots.lim_angle = np.pi/3
robots.directional_light = 1
robots.num = 2
c = np.array([0,0])
diff = robots.coords - c
beta = robots.calc_beta(0, robots.angles, th_coords)
# alpha = robots.calc_alpha(0, robots.angles, th_coords)
angle_scale, valid_angle_ind = robots.angle_calc(diff, 0, robots.lim_angle, robots.coords, robots.angles)
# print(beta)
# print(alpha)
# print(valid_angle_ind)
# assert np.allclose(angle_scale[0:3],np.array([0,1,2]))
assert np.isclose(beta[1],np.pi/8)
# assert alpha[1] == -11*np.pi/12
assert np.array_equal(valid_angle_ind[valid_angle_ind<=1],np.array([1]))
assert np.allclose(angle_scale[1:2],np.array([0.859375]))
# tests several parts of the angle calc for different configurations
def test_robots_more_angle_tests_17():
robots = test_robots_init()
# setup test parameters
robots.coords = np.array([[0,0],[0,-10]])
th_coords = np.array([0,3*np.pi/2]) # theta_C - the angle from follower to leader in global frame [0,2pi]
robots.angles = np.array([np.pi,np.pi])
robots.lights = np.array([255,255])
robots.lim_angle = np.pi/3
robots.directional_light = 1
robots.num = 2
c = np.array([0,0])
diff = robots.coords - c
beta = robots.calc_beta(0, robots.angles, th_coords)
# alpha = robots.calc_alpha(0, robots.angles, th_coords)
angle_scale, valid_angle_ind = robots.angle_calc(diff, 0, robots.lim_angle, robots.coords, robots.angles)
# print(beta)
# print(alpha)
# print(valid_angle_ind)
# assert np.allclose(angle_scale[0:3],np.array([0,1,2]))
assert np.isclose(beta[1],np.pi/2)
# assert alpha[1] == -11*np.pi/12
assert np.array_equal(valid_angle_ind[valid_angle_ind<=1],np.array([]))
# assert np.allclose(angle_scale[1:2],np.array([0.4375]))
# tests several parts of the angle calc for different configurations
def test_robots_more_angle_tests_18():
robots = test_robots_init()
# setup test parameters
robots.coords = np.array([[0,0],[0,-10]])
th_coords = np.array([0,3*np.pi/2]) # theta_C - the angle from follower to leader in global frame [0,2pi]
robots.angles = np.array([5*np.pi/4,np.pi])
robots.lights = np.array([255,255])
robots.lim_angle = np.pi/3
robots.directional_light = 1
robots.num = 2
c = np.array([0,0])
diff = robots.coords - c
beta = robots.calc_beta(0, robots.angles, th_coords)
# alpha = robots.calc_alpha(0, robots.angles, th_coords)
angle_scale, valid_angle_ind = robots.angle_calc(diff, 0, robots.lim_angle, robots.coords, robots.angles)
# print(beta)
# print(alpha)
# print(valid_angle_ind)