def test_3(self):
myrobot = robot(20.)
myrobot.set(30., 20., pi / 5.)
util.arrayCmp(self, myrobot.sense(),
[5.376567117456516, 3.101276726419402,
1.3012484663475101, 0.22364779645531352])
def test_2(self):
myrobot = robot(20.)
myrobot.set(30., 20., 0.)
util.arrayCmp(self, myrobot.sense(),
[6.004885648174475, 3.7295952571373605,
1.9295669970654687, 0.8519663271732721])
def test_2(self):
x, P = self.vars([[1., 4.], [6., 0.], [11., -4.], [16., -8.]],
[-4., 8.])
util.arrayCmp(self, x.value,
[[ 15.993335554815062],
[ -7.9946684438520501],
[ 49.983338887037647],
[-39.986671109630123]])
def test_2(self):
val, pol = self.value([[0, 1, 0],
[0, 0, 0]], [0, 2], .5)
util.arrayCmp(self, val,
[[94.041, 1000.0, 0.],
[86.082, 73.143, 44.286]], epsilon=1e-3)
util.arrayCmp(self, pol,
[['v', ' ', '*'],
['>', '>', '^']])
def test_1(self):
val, pol = self.value([[0, 0, 0],
[0, 0, 0]], [0, 2], .5)
util.arrayCmp(self, val,
[[60.472, 37.193, 0.],
[63.503, 44.770, 37.193]], epsilon=1e-3)
util.arrayCmp(self, pol,
[['>', '>', '*'],
['>', '^', '^']])
def test_4(self):
x, P = self.vars([[2., 17.], [0., 15.], [2., 13.], [0., 11.]],
[1., 19.])
util.arrayCmp(self, x.value,
[[ 0.73342219260246477],
[ 11.002665778073975],
[ -0.66644451849384057],
[-19.993335554815054]])
util.arrayCmp(self, P.value,
[[.053315561479506911, .0, .13328890369876803, .0],
[.0, .053315561479506911, .0, .13328890369876803],
[.13328890369876789, .0, .33322225924692717, .0],
[.0, .13328890369876789, .0, .33322225924692717]])
def test_3(self):
x, P = self.vars([[1., 17.], [1., 15.], [1., 13.], [1., 11.]],
[1., 19.])
util.arrayCmp(self, x.value,
[[ 1.0],
[ 11.002665778073975],
[ 0.0],
[-19.993335554815054]])
util.arrayCmp(self, P.value,
[[.053315561479506911, .0, .13328890369876803, .0],
[.0, .053315561479506911, .0, .13328890369876803],
[.13328890369876789, .0, .33322225924692717, .0],
[.0, .13328890369876789, .0, .33322225924692717]])
def test_1(self):
x, P = self.vars([[5., 10.], [6., 8.], [7., 6.], [8., 4.], [9., 2.], [10., 0.]],
[4., 12.])
util.arrayCmp(self, x.value,
[[ 9.9993407317877168],
[ 0.001318536424568617],
[ 9.9989012196461928],
[-19.997802439292386]])
util.arrayCmp(self, P.value,
[[.039556092737061982, .0, .06592682122843721, .0],
[.0, .039556092737061982, .0, .06592682122843721],
[.065926821228437182, .0, .10987803538073201, .0],
[.0, .065926821228437182, .0, .10987803538073201]])
def test_4(self):
val, pol = self.value([[0, 0, 0, 0],
[0, 0, 0, 0],
[0, 0, 0, 0],
[0, 1, 1, 0]], [0, 3], 1.)
util.arrayCmp(self, val,
[[3., 2., 1., 0.],
[4., 3., 2., 1.],
[5., 4., 3., 2.],
[6., 1000., 1000., 3.]], epsilon=1e-3)
util.arrayCmp(self, pol,
[['>', '>', '>', '*'],
['^', '^', '^', '^'],
['^', '^', '^', '^'],
['^', ' ', ' ', '^']])
def test_3(self):
val, pol = self.value([[0, 0, 0, 0],
[0, 0, 0, 0],
[0, 0, 0, 0],
[0, 1, 1, 0]], [0, 3], .5)
util.arrayCmp(self, val,
[[57.903, 40.278, 26.066, 0.],
[47.055, 36.572, 29.994, 27.270],
[53.172, 42.023, 37.775, 45.092],
[77.586, 1000.0, 1000.0, 73.546]], epsilon=1e-3)
util.arrayCmp(self, pol,
[['>', 'v', 'v', '*'],
['>', '>', '^', '<'],
['>', '^', '^', '<'],
['^', ' ', ' ', '^']])
def test_6(self):
x = {
'colors': [['green', 'green', 'green'],
['green', 'red', 'red'],
['green', 'green', 'green']],
'measurements': ['red', 'red'],
'motions': [[0,0], [0,1]],
'sensor_right': 0.8,
'p_move': 0.5,
'p': [],
}
exec self.code in x
util.arrayCmp(self, x['p'],
[[.028985507246376808, .028985507246376808, .028985507246376808],
[.072463768115942032, .28985507246376818, .4637681159420291],
[.028985507246376808, .028985507246376808, .028985507246376808]])
def test_5(self):
x = {
'colors': [['green', 'green', 'green'],
['green', 'red', 'red'],
['green', 'green', 'green']],
'measurements': ['red', 'red'],
'motions': [[0,0], [0,1]],
'sensor_right': 1.0,
'p_move': 1.0,
'p': [],
}
exec self.code in x
util.arrayCmp(self, x['p'],
[[0.0, 0.0, 0.0],
[0.0, 0.0, 1.0],
[0.0, 0.0, 0.0]])
def test_4(self):
x = {
'colors': [['green', 'green', 'green'],
['green', 'red', 'red'],
['green', 'green', 'green']],
'measurements': ['red', 'red'],
'motions': [[0,0], [0,1]],
'sensor_right': 0.8,
'p_move': 1.0,
'p': [],
}
exec self.code in x
util.arrayCmp(self, x['p'],
[[.033333333333333333, .033333333333333333, .033333333333333333],
[.133333333333333333, .13333333333333336, .53333333333333344],
[.033333333333333333, .033333333333333333, .033333333333333333]])
def test_3(self):
x = {
'colors': [['green', 'green', 'green'],
['green', 'red', 'red'],
['green', 'green', 'green']],
'measurements': ['red'],
'motions': [[0,0]],
'sensor_right': 0.8,
'p_move': 1.0,
'p': [],
}
exec self.code in x
util.arrayCmp(self, x['p'],
[[.066666666666666666, .066666666666666666, .066666666666666666],
[.066666666666666666, .26666666666666672, .26666666666666672],
[.066666666666666666, .066666666666666666, .066666666666666666]])
def test_8(self):
x = {
'colors': [['red', 'green', 'green', 'red', 'red'],
['red', 'red', 'green', 'red', 'red'],
['red', 'red', 'green', 'green', 'red'],
['red', 'red', 'red', 'red', 'red']],
'measurements': ['green', 'green', 'green', 'green', 'green'],
'motions': [[0,0], [0,1], [1,0], [1,0], [0,1]],
'sensor_right': 0.7,
'p_move': 0.8,
'p': [],
}
exec self.code in x
util.arrayCmp(self, x['p'],
[[.011059807427972012, .02464041578496803, .067996628067859152, .044724870458121582, .02465153121665372],
[.0071532041833209815, .010171326481705892, .086965960026646888, .07988429965998084, .0093506685084371859],
[.0073973668861116709, .0089437306704527025, .11272964670259776, .35350722955212721, .040655492078276775],
[.0091065058056464965, .0071532041833209815, .014349221618346574, .043133291358448948, .036425599329004736]])
def test_1(self):
myrobot = robot(20.)
myrobot.set(0., 0., 0.)
util.arrayCmp(self, myrobot.sense(),
[0., 0., 1.5707963267948966, 0.78539816339744828])