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belief_road_map_planner_python_test.py
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belief_road_map_planner_python_test.py
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import unittest
import experimental.beacon_sim.belief_road_map_planner_python as brm
import experimental.beacon_sim.test_helpers_python as helpers
import experimental.beacon_sim.ekf_slam_python as esp
import experimental.beacon_sim.beacon_potential_python as bpp
class BeliefRoadMapPlannerPythonTest(unittest.TestCase):
def test_belief_road_map_planner(self):
# Setup
ekf_config = esp.EkfSlamConfig(
max_num_beacons=11,
initial_beacon_uncertainty_m=100.0,
along_track_process_noise_m_per_rt_meter=0.05,
cross_track_process_noise_m_per_rt_meter=0.05,
pos_process_noise_m_per_rt_s=0.0,
heading_process_noise_rad_per_rt_meter=1e-3,
heading_process_noise_rad_per_rt_s=0.0,
beacon_pos_process_noise_m_per_rt_s=1e-6,
range_measurement_noise_m=1e-1,
bearing_measurement_noise_rad=1e-1,
on_map_load_position_uncertainty_m=2.0,
on_map_load_heading_uncertainty_rad=0.5,
)
brm_options = brm.BeliefRoadMapOptions(
max_sensor_range_m=3.0,
uncertainty_tolerance=None,
max_num_edge_transforms=1000,
timeout=None,
)
P_LONE_BEACON = 0.5
P_STACKED_BEACON = 0.1
P_NO_STACK_BEACON = 0.01
road_map, ekf, potential = helpers.create_diamond_environment(
ekf_config, P_LONE_BEACON, P_NO_STACK_BEACON, P_STACKED_BEACON
)
# Action
plan = brm.compute_belief_road_map_plan(road_map, ekf, potential, brm_options)
# Verification
self.assertIsNotNone(plan)
self.assertNotIn(1, plan.nodes)
def test_optimistic_belief_road_map_planner(self):
# Setup
ekf_config = esp.EkfSlamConfig(
max_num_beacons=1,
initial_beacon_uncertainty_m=100.0,
along_track_process_noise_m_per_rt_meter=0.05,
cross_track_process_noise_m_per_rt_meter=0.05,
pos_process_noise_m_per_rt_s=0.0,
heading_process_noise_rad_per_rt_meter=1e-3,
heading_process_noise_rad_per_rt_s=0.0,
beacon_pos_process_noise_m_per_rt_s=1e-6,
range_measurement_noise_m=1e-1,
bearing_measurement_noise_rad=1e-1,
on_map_load_position_uncertainty_m=2.0,
on_map_load_heading_uncertainty_rad=0.5,
)
brm_options = brm.BeliefRoadMapOptions(
max_sensor_range_m=3.0,
uncertainty_tolerance=None,
max_num_edge_transforms=1000,
timeout=None,
)
P_LONE_BEACON = 0.5
road_map, ekf, potential = helpers.create_grid_environment(
ekf_config, P_LONE_BEACON
)
potential = bpp.BeaconPotential()
# Action
plan = brm.compute_belief_road_map_plan(road_map, ekf, potential, brm_options)
# Verification
self.assertIsNotNone(plan)
self.assertIn(0, plan.nodes)
self.assertIn(3, plan.nodes)
def test_landmark_belief_road_map_planner(self):
# Setup
ekf_config = esp.EkfSlamConfig(
max_num_beacons=2,
initial_beacon_uncertainty_m=100.0,
along_track_process_noise_m_per_rt_meter=0.05,
cross_track_process_noise_m_per_rt_meter=0.05,
pos_process_noise_m_per_rt_s=0.0,
heading_process_noise_rad_per_rt_meter=1e-3,
heading_process_noise_rad_per_rt_s=0.0,
beacon_pos_process_noise_m_per_rt_s=1e-6,
range_measurement_noise_m=1e-1,
bearing_measurement_noise_rad=1e-1,
on_map_load_position_uncertainty_m=2.0,
on_map_load_heading_uncertainty_rad=0.5,
)
brm_options = brm.LandmarkBeliefRoadMapOptions(
max_sensor_range_m=3.0,
uncertainty_size_options=brm.LandmarkBeliefRoadMapOptions.ExpectedDeterminant(),
sampled_belief_options=None,
timeout=None,
)
road_map, ekf, potential = helpers.create_stress_test_environment(ekf_config)
# Action
plan = brm.compute_landmark_belief_road_map_plan(
road_map, ekf, potential, brm_options
)
# Verification
self.assertIsNotNone(plan)
self.assertIn(0, plan.nodes)
self.assertIn(2, plan.nodes)
def test_expected_belief_road_map_planner_high_prob(self):
# Setup
ekf_config = esp.EkfSlamConfig(
max_num_beacons=1,
initial_beacon_uncertainty_m=100.0,
along_track_process_noise_m_per_rt_meter=0.05,
cross_track_process_noise_m_per_rt_meter=0.05,
pos_process_noise_m_per_rt_s=0.0,
heading_process_noise_rad_per_rt_meter=1e-3,
heading_process_noise_rad_per_rt_s=0.0,
beacon_pos_process_noise_m_per_rt_s=1e-6,
range_measurement_noise_m=1e-1,
bearing_measurement_noise_rad=1e-1,
on_map_load_position_uncertainty_m=2.0,
on_map_load_heading_uncertainty_rad=0.5,
)
brm_options = brm.ExpectedBeliefRoadMapOptions(
num_configuration_samples=100,
seed=0,
brm_options=brm.BeliefRoadMapOptions(
max_sensor_range_m=3.0,
uncertainty_tolerance=None,
max_num_edge_transforms=1000,
timeout=None,
),
)
P_LONE_BEACON = 0.9
road_map, ekf, potential = helpers.create_grid_environment(
ekf_config, P_LONE_BEACON
)
# Action
plan = brm.compute_expected_belief_road_map_plan(
road_map, ekf, potential, brm_options
)
# Verification
self.assertIsNotNone(plan)
self.assertIn(0, plan.nodes)
self.assertIn(3, plan.nodes)
def test_expected_belief_road_map_planner_low_prob(self):
# Setup
ekf_config = esp.EkfSlamConfig(
max_num_beacons=1,
initial_beacon_uncertainty_m=100.0,
along_track_process_noise_m_per_rt_meter=0.05,
cross_track_process_noise_m_per_rt_meter=0.05,
pos_process_noise_m_per_rt_s=0.0,
heading_process_noise_rad_per_rt_meter=1e-3,
heading_process_noise_rad_per_rt_s=0.0,
beacon_pos_process_noise_m_per_rt_s=1e-6,
range_measurement_noise_m=1e-1,
bearing_measurement_noise_rad=1e-1,
on_map_load_position_uncertainty_m=2.0,
on_map_load_heading_uncertainty_rad=0.5,
)
brm_options = brm.ExpectedBeliefRoadMapOptions(
num_configuration_samples=100,
seed=0,
brm_options=brm.BeliefRoadMapOptions(
max_sensor_range_m=3.0,
uncertainty_tolerance=None,
max_num_edge_transforms=1000,
timeout=None,
),
)
P_LONE_BEACON = 0.01
road_map, ekf, potential = helpers.create_grid_environment(
ekf_config, P_LONE_BEACON
)
# Action
plan = brm.compute_expected_belief_road_map_plan(
road_map, ekf, potential, brm_options
)
# Verification
self.assertIsNotNone(plan)
self.assertNotIn(0, plan.nodes)
self.assertNotIn(3, plan.nodes)
if __name__ == "__main__":
unittest.main()