def test_generate_kpis(self):
self.assertIn('recording.bag', os.listdir(ROOT_PATH),'recording.bag cannot be found')
sim_eval = Evaluation(ROSBAG, RESULTS_DIR)
sim_eval.compute_kpis()
self.assertTrue(type(sim_eval.get_kpis()) == dict, 'KPIs structure is not a dictionary')
def test_generate_kpis(self):
runner = SimulationRunner(PARAMS, TASK, RESULTS_DIR, True)
runner.run(PARAMS)
self.assertIn('recording.bag', os.listdir(runner.current_sim_results_dir),'recording.bag cannot be found')
sim_eval = Evaluation(runner.recording_filename, runner.current_sim_results_dir)
sim_eval.compute_kpis()
self.assertTrue(type(sim_eval.get_kpis()) == dict, 'KPIs structure is not a dictionary')
traj.append(sim_eval.get_trajectory_coord('actual'))
error_t.append(sim_eval._error_set.get_time())
error_vec.append(
KPI.get_error(sim_eval._error_set.get_data('position')))
error_yaw_vec.append(sim_eval._error_set.get_data('yaw'))
if t_cur is None:
t_cur, vec_cur = sim_eval._bag.get_current_vel()
if t_force is None:
t_force, vec_force, vec_torque = sim_eval._bag.get_wrench_dist(
)
kpis = sim_eval.get_kpis()
kpi_results.append(kpis)
cur_cost = 0.0
for tag in opt_config['cost_fcn']:
cur_cost += sim_eval.get_kpi(
tag) * opt_config['cost_fcn'][tag]
with open(
os.path.join(runner.current_sim_results_dir,
'smac_result.yaml'), 'w') as smac_file:
yaml.dump(dict(cost=float(cur_cost)),
smac_file,
default_flow_style=False)