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)
