def test_cov(self):
print ""
config, robot_params = loadSystem()
joint_points = [
JointState(position=[0, 0, 1]),
JointState(position=[pi / 2, 0, 2])
]
sensor = TiltingLaserSensor(
config["tilting_lasers"]["laserA"],
LaserMeasurement(laser_id="laserA", joint_points=joint_points))
sensor.update_config(robot_params)
cov = sensor.compute_cov(None)
print "Cov:"
print cov
self.assertAlmostEqual(cov[0, 0], 1.0, 6)
self.assertAlmostEqual(cov[1, 1], 1.0, 6)
self.assertAlmostEqual(cov[2, 2], 1.0, 6)
self.assertAlmostEqual(cov[3, 3], 4.0, 6)
self.assertAlmostEqual(cov[4, 4], 4.0, 6)
self.assertAlmostEqual(cov[5, 5], 1.0, 6)
def test_tilting_laser_1(self):
print ""
config, robot_params = loadSystem()
joint_points = [
JointState(position=[0, 0, 0]),
JointState(position=[0, pi / 2, 1]),
JointState(position=[pi / 2, 0, 1])
]
sensor = TiltingLaserSensor(
config["tilting_lasers"]["laserA"],
LaserMeasurement(laser_id="laserA", joint_points=joint_points))
sensor.update_config(robot_params)
target_pts = matrix([[0, 0, 0], [0, 1, 0], [0, 0, -1], [1, 1, 1]])
h = sensor.compute_expected(target_pts)
z = sensor.get_measurement()
r = sensor.compute_residual(target_pts)
self.assertAlmostEqual(numpy.linalg.norm(h - target_pts), 0.0, 6)
self.assertAlmostEqual(numpy.linalg.norm(z - target_pts), 0.0, 6)
self.assertAlmostEqual(numpy.linalg.norm(r), 0.0, 6)
# Test Sparsity
sparsity = sensor.build_sparsity_dict()
self.assertEqual(sparsity['transforms']['j0'], [1, 1, 1, 1, 1, 1])
self.assertEqual(sparsity['transforms']['j1'], [1, 1, 1, 1, 1, 1])
self.assertEqual(sparsity['transforms']['j2'], [1, 1, 1, 1, 1, 1])
self.assertEqual(sparsity['tilting_lasers']['laserA']['gearing'], 1)
def test_gamma(self):
print ""
config, robot_params = loadSystem()
joint_points = [
JointState(position=[0, 0, 1]),
JointState(position=[pi / 2, 0, 2])
]
sensor = TiltingLaserSensor(
config["tilting_lasers"]["laserA"],
LaserMeasurement(laser_id="laserA", joint_points=joint_points))
sensor.update_config(robot_params)
gamma = sensor.compute_marginal_gamma_sqrt(None)
print "Gamma:"
print gamma
self.assertAlmostEqual(gamma[0, 0], 1.0, 6)
self.assertAlmostEqual(gamma[1, 1], 1.0, 6)
self.assertAlmostEqual(gamma[2, 2], 1.0, 6)
self.assertAlmostEqual(gamma[3, 3], 0.5, 6)
self.assertAlmostEqual(gamma[4, 4], 0.5, 6)
self.assertAlmostEqual(gamma[5, 5], 1.0, 6)
