def test_constructor(self, finalPositions, targetIds, targetPriorities):
# Create a new TargetGroup instance using only the target positions
targets = TargetGroup(finalPositions)
# Check that the number of targets and the positions are correct
assert targets.nTargets == len(finalPositions)
assert np.all(targets.positions == finalPositions)
# Check that the default ids and priorities are correct
assert np.all(targets.ids == ["0", "1", "2", "3"])
assert np.all(targets.priorities == [1, 1, 1, 1])
# Create a new TargetGroup instance with all the inputs
targets = TargetGroup(finalPositions, targetIds, targetPriorities)
# Check that the ids, positions and priorities are correct
assert np.all(targets.ids == targetIds)
assert np.all(targets.positions == finalPositions)
assert np.all(targets.priorities == targetPriorities)
# Create a new TargetGroup instance with one NULL target
targetIds[1] = NULL_TARGET_ID
targets = TargetGroup(finalPositions, targetIds, targetPriorities)
# Check that the ids, positions and priorities are correct
notNull = targetIds != NULL_TARGET_ID
assert np.all(targets.ids[notNull] == targetIds[notNull])
assert np.all(targets.positions[notNull] == finalPositions[notNull])
assert np.all(targets.priorities[notNull] == targetPriorities[notNull])
assert np.all(targets.ids[~notNull] == NULL_TARGET_ID)
assert np.all(targets.positions[~notNull] == NULL_TARGET_POSITION)
assert np.all(targets.priorities[~notNull] == NULL_TARGET_PRIORITY)
def test_constructor_exception(self, finalPositions, targetIds,
targetPriorities):
# Check that the constructor raises a exception when the input array
# lengths do not coincide
with pytest.raises(ValueError):
TargetGroup(finalPositions, targetIds[1:], targetPriorities)
with pytest.raises(ValueError):
TargetGroup(finalPositions, targetIds, targetPriorities[2:])
def test_addToFigure_method(self, finalPositions, targetIds,
targetPriorities):
# Create a new TargetGroup instance with all the inputs
targets = TargetGroup(finalPositions, targetIds, targetPriorities)
# Plot the targets
plt.figure()
targets.addToFigure()
plt.show(block=False)
def test_select_method(self, finalPositions, targetIds, targetPriorities):
# Create a new TargetGroup instance with all the inputs
targets = TargetGroup(finalPositions, targetIds, targetPriorities)
# Select some of the targets
indices = [1, 2]
selectedTargets = targets.select(indices)
# Check that the result makes sense
assert selectedTargets.nTargets == len(indices)
assert np.all(selectedTargets.ids == targetIds[indices])
assert np.all(selectedTargets.positions == finalPositions[indices])
assert np.all(selectedTargets.priorities == targetPriorities[indices])
def test_getSelectedTargets_method(self):
# Create a basic bench with 2 cobras
cobraCenters = np.array([0, 5], dtype=np.complex)
bench = Bench(cobraCenters)
# Create some targets
finalPositions = np.array([0, 3, NULL_TARGET_POSITION, 6])
targets = TargetGroup(finalPositions)
# Create a dummy TargetSelector
selector = TargetSelectorSubclass(bench, targets)
# Assign the cobras to valid targets
indices = np.array([3, 0])
selector.assignedTargetIndices = indices
# Get the selected targets
selectedTargers = selector.getSelectedTargets()
# Check that we get the correct targets
assert np.all(selectedTargers.positions == finalPositions[indices])
assert np.all(selectedTargers.ids == indices.astype(np.str))
assert np.all(selectedTargers.priorities == 1)
# Assign one of the cobras to the NULL target
indices = np.array([1, 2])
selector.assignedTargetIndices = indices
# Get the selected targets
selectedTargers = selector.getSelectedTargets()
# Check that we get the NULL target
assert selectedTargers.positions[1] == NULL_TARGET_POSITION
assert selectedTargers.ids[1] == NULL_TARGET_ID
assert selectedTargers.priorities[1] == NULL_TARGET_PRIORITY
def test_saveToFile_method(self, finalPositions, targetIds,
targetPriorities, tmpdir):
# Create a new TargetGroup instance with all the inputs
targets = TargetGroup(finalPositions, targetIds, targetPriorities)
# Write the targets information into a file
fileName = str(tmpdir.join("myTestTargets.dat"))
targets.saveToFile(fileName)
# Read back the targets file
targets = TargetGroup.fromFile(fileName)
# Check that the ids, positions and priorities are correct
assert np.all(targets.ids == targetIds)
assert np.all(targets.positions == finalPositions)
assert np.all(targets.priorities == targetPriorities)
def test_fromFile_method(self, finalPositions, targetIds, targetPriorities,
tmpdir):
# Write the targets information into a file
fileName = str(tmpdir.join("myTestTargets.dat"))
with open(fileName, "w+") as f:
for p, i, pr in zip(finalPositions, targetIds, targetPriorities):
f.write("%s, %s, %s, %s\n" % (np.real(p), np.imag(p), i, pr))
# Create a new TargetGroup instance from the file
targets = TargetGroup.fromFile(fileName)
# Check that the ids, positions and priorities are correct
assert np.all(targets.ids == targetIds)
assert np.all(targets.positions == finalPositions)
assert np.all(targets.priorities == targetPriorities)
def test_getTargetsInsidePatrolArea_method(self):
# Create a basic bench with 2 cobras
cobraCenters = np.array([0, 5], dtype=np.complex)
bench = Bench(cobraCenters)
# Create some targets
finalPositions = np.array([0, cobraCenters.mean(), -3, 6])
targets = TargetGroup(finalPositions)
# Create a dummy TargetSelector
selector = TargetSelectorSubclass(bench, targets)
# Get the targets that fall inside the first cobra
indices, positions, distances = selector.getTargetsInsidePatrolArea(0)
# Check that we get what we expected
expectedIndices = np.array([1, 2])
expectedPositions = finalPositions[expectedIndices]
expectedDistances = np.abs(cobraCenters[0] - expectedPositions)
assert np.all(indices == expectedIndices)
assert np.all(positions == expectedPositions)
assert np.all(np.abs(distances - expectedDistances) < 1e-10)
# Get the targets that fall inside the second cobra
indices, positions, distances = selector.getTargetsInsidePatrolArea(1)
# Check that we get what we expected
expectedIndices = np.array([3, 1])
expectedPositions = finalPositions[expectedIndices]
expectedDistances = np.abs(cobraCenters[1] - expectedPositions)
assert np.all(indices == expectedIndices)
assert np.all(positions == expectedPositions)
assert np.all(np.abs(distances - expectedDistances) < 1e-10)
# Construct the KD tree
selector.constructKDTree()
# Get again the targets that fall inside the second cobra
indices, positions, distances = selector.getTargetsInsidePatrolArea(1)
# Check that we get what we expected
expectedIndices = np.array([3, 1])
expectedPositions = finalPositions[expectedIndices]
expectedDistances = np.abs(cobraCenters[1] - expectedPositions)
assert np.all(indices == expectedIndices)
assert np.all(positions == expectedPositions)
assert np.all(np.abs(distances - expectedDistances) < 1e-10)
def test_constructKDTree_method(self):
# Create a basic bench with 2 cobras
cobraCenters = np.array([0, 5], dtype=np.complex)
bench = Bench(cobraCenters)
# Create some random targets
finalPositions = 8 * np.random.random(50) + 8j * np.random.random(50)
targets = TargetGroup(finalPositions)
# Create a dummy TargetSelector
selector = TargetSelectorSubclass(bench, targets)
# Check that the KD tree is not available
assert selector.kdTree is None
# Construct the KD tree
selector.constructKDTree()
# Check that the KD tree is available
assert selector.kdTree is not None
# Check that it contains the expected data
assert np.all(selector.kdTree.data == np.column_stack(
(finalPositions.real, finalPositions.imag)))
def test_solveEndPointCollisions_method(self):
# Create a basic bench with 2 cobras
cobraCenters = np.array([0, 5], dtype=np.complex)
bench = Bench(cobraCenters)
# Create some targets
rMin = bench.cobras.rMin
finalPositions = np.array([cobraCenters[0] + 1.2 * rMin[0],
cobraCenters.mean() - 0.1,
cobraCenters.mean(),
cobraCenters[1] + 1.2 * rMin[1]])
targets = TargetGroup(finalPositions)
# Create a dummy TargetSelector
selector = TargetSelectorSubclass(bench, targets)
# Calculate the accessible targets for each cobra
selector.calculateAccessibleTargets()
# Assign the targets in a way that we have an end-point collision
selector.assignedTargetIndices = np.array([1, 2])
# Solve the cobra end-point collisions
selector.solveEndPointCollisions()
# Check that we get the correct assignment
assert np.all(selector.assignedTargetIndices == [0, 3])
# Assign the targets in a way that we don't have an end-point collision
selector.assignedTargetIndices = np.array([0, 2])
# Solve the cobra end-point collisions
selector.solveEndPointCollisions()
# Check that we get the same assignment
assert np.all(selector.assignedTargetIndices == [0, 2])