def test_OccupancyMap(): world = gnssShadowing.World("data/2017-03-28.tle", "data/uni.obj", "Building") planeLevels = gnssShadowing.PlaneLevelList() planeLevels.extend([56.0]) width_m = 800 height_m = 400 res_x = res_y = 2.0 width = (int)(width_m / res_x) height = (int)(height_m / res_y) min_x = -width_m / 2. min_y = -height_m / 2. mapProperties = gnssShadowing.MapProperties(min_x, min_y, width, height, res_x, res_y, planeLevels) minimumElevation = gnssShadowing.deg2rad(5) mapper = gnssShadowing.Mapper(world, mapProperties, minimumElevation) occupancyMap = mapper.m_occupancyMap z = 0 # planeLevelIndex sumOccupied = 0 for x in range(0, width): for y in range(0, height): if occupancyMap.isOccupied(x, y, z): sumOccupied += 1 assert sumOccupied == 7557 npMap = occupancyMap.getMapForLevel(z) assert type(npMap) == np.ndarray assert npMap.sum() == sumOccupied
def test_MapProblem(): world = gnssShadowing.World("data/2017-03-28.tle", "data/uni.obj", "Building") planeLevels = gnssShadowing.PlaneLevelList() planeLevels.extend([56.0]) width_m = 800 height_m = 400 res_x = res_y = 10.0 width = (int)(width_m / res_x) height = (int)(height_m / res_y) min_x = -width_m / 2. min_y = -height_m / 2. mapProperties = gnssShadowing.MapProperties(min_x, min_y, width, height, res_x, res_y, planeLevels) minimumElevation = gnssShadowing.deg2rad(5) mapper = gnssShadowing.Mapper(world, mapProperties, minimumElevation) dopMap = mapper.computeDOPMap( gnssShadowing.mkSeconds(2017, 3, 28, 12, 0, 0)) maxHorizontalDOP = 5 start = gnssShadowing.MapNode(0, 0) target = gnssShadowing.MapNode(1, 1) problem = gnssShadowing.MapProblem(maxHorizontalDOP, dopMap, start, target) assert type(problem.m_map) == gnssShadowing.DOPMap assert type(problem.m_maxHorizontalDOP) == float assert problem.targetReached(target) == True assert problem.targetReached(start) == False problem.computeCost(start, target) neighbors = problem.computeNeighbors(start) assert type(neighbors) == gnssShadowing.MapNodeList problem.computeHeuristic(start)
def test_MapProblemSolver(): world = gnssShadowing.World("data/2017-03-28.tle", "data/uni.obj", "Building") planeLevels = gnssShadowing.PlaneLevelList() planeLevels.extend([56.0]) width_m = 800 height_m = 400 res_x = res_y = 10.0 width = (int)(width_m / res_x) height = (int)(height_m / res_y) min_x = -width_m / 2. min_y = -height_m / 2. mapProperties = gnssShadowing.MapProperties(min_x, min_y, width, height, res_x, res_y, planeLevels) minimumElevation = gnssShadowing.deg2rad(5) mapper = gnssShadowing.Mapper(world, mapProperties, minimumElevation) dopMap = mapper.computeDOPMap( gnssShadowing.mkSeconds(2017, 3, 28, 12, 0, 0)) maxHorizontalDOP = 5 start = gnssShadowing.MapNode(0, 0) target = gnssShadowing.MapNode(1, 1) problem = gnssShadowing.MapProblem(maxHorizontalDOP, dopMap, start, target) solver = gnssShadowing.MapProblemSolver() path = solver.findShortestPath(problem) assert type(path) == gnssShadowing.MapNodeList assert path.size() == 3 assert path.at(0).x == start.x assert path.at(0).y == start.y assert path.at(path.size() - 1).x == target.x assert path.at(path.size() - 1).y == target.y
def test_MapTimeProblem(): world = gnssShadowing.World("data/2017-03-28.tle", "data/uni.obj", "Building") planeLevels = gnssShadowing.PlaneLevelList() planeLevels.extend([56.0]) width_m = 800 height_m = 400 res_x = res_y = 10.0 width = (int)(width_m / res_x) height = (int)(height_m / res_y) min_x = -width_m / 2. min_y = -height_m / 2. mapProperties = gnssShadowing.MapProperties(min_x, min_y, width, height, res_x, res_y, planeLevels) minimumElevation = gnssShadowing.deg2rad(5) time = gnssShadowing.mkSeconds(2017, 3, 28, 12, 0, 0) timePerStep = 5 # in seconds mapper = gnssShadowing.MapperLazyTimesteps(world, mapProperties, time, timePerStep, minimumElevation) maxHorizontalDOP = 5 start = gnssShadowing.MapTimeNode(0, gnssShadowing.MapNode(0, 0)) target = gnssShadowing.MapTimeNode(0, gnssShadowing.MapNode(1, 1)) maxHorizontalDOP = 5. costPerHorizontalDOP = 1. costPerGridStep = 1. costPerTimeStep = 1. costPerTimeTotal = 0. timeStepsPerStep = 1 problem = gnssShadowing.MapTimeProblem(maxHorizontalDOP, costPerHorizontalDOP, costPerGridStep, costPerTimeStep, costPerTimeTotal, timeStepsPerStep, mapper, start, target) assert type(problem.m_maps) == gnssShadowing.MapperLazyTimesteps assert type(problem.m_maxHorizontalDOP) == float assert type(problem.m_costPerHorizontalDOP) == float assert type(problem.m_costPerGridStep) == float assert type(problem.m_costPerTimeStep) == float assert type(problem.m_costPerTimeTotal) == float assert type(problem.m_timeStepsPerStep) == int assert problem.targetReached(target) == True assert problem.targetReached(start) == False problem.computeCost(start, target) neighbors = problem.computeNeighbors(start) assert type(neighbors) == gnssShadowing.MapTimeNodeList problem.computeHeuristic(start)
def test_Shadowing(): world = gnssShadowing.World("data/current.tle", "data/uni.obj", "Building") shadowing = world.m_shadowing now = gnssShadowing.unixTimeInSeconds() horizontal = world.m_satStore.getSat(0).findECEF(now).toENU( world.m_origin).toHorizontal() transformation = shadowing.computeTransformation(horizontal) assert type(transformation) == gnssShadowing.Transformation contour1 = shadowing.computeContourFromTransformation(transformation) assert type(contour1) == gnssShadowing.Contour contour2 = shadowing.computeContourFromHorizontal(horizontal) assert type(contour2) == gnssShadowing.Contour planeLevel = 0 eps = 1e-3 vol = shadowing.computeShadowVolume(contour1, transformation, planeLevel, eps) assert type(vol) == gnssShadowing.ShadowVolume
def test_Mapper(): world = gnssShadowing.World("data/2017-03-28.tle", "data/uni.obj", "Building") planeLevels = gnssShadowing.PlaneLevelList() planeLevels.extend([56.0]) min_x = 10.0 min_y = 20.0 width = 5 height = 3 res_x = res_y = 2.0 mapProperties = gnssShadowing.MapProperties(min_x, min_y, width, height, res_x, res_y, planeLevels) minimumElevation = gnssShadowing.deg2rad(5) mapper = gnssShadowing.Mapper(world, mapProperties, minimumElevation) assert type(mapper.m_world) == gnssShadowing.World assert type(mapper.m_sats) == gnssShadowing.AvailableSats assert type(mapper.m_mapProperties) == gnssShadowing.MapProperties assert type(mapper.m_occupancyMap) == gnssShadowing.OccupancyMap assert type(mapper.m_visibilityMap) == gnssShadowing.VisibilityMap assert type(mapper.m_dopMap) == gnssShadowing.DOPMap # not initialized yet assert mapper.m_sats.getNumSats() == 0 mapper.updateSats(gnssShadowing.mkSeconds(2017, 3, 28, 12, 0, 0)) assert mapper.m_sats.getNumSats() == 21 # not initialized yet sumVisible = 0 z = 0 for x in range(0, width): for y in range(0, height): sumVisible += mapper.m_visibilityMap.getItem(x, y, z).size() assert sumVisible == 0 # not initialized yet hdop = mapper.m_dopMap.getHDOPMap(z) sumNotInvalidHDOP = 0 for x in range(0, width): for y in range(0, height): if mapper.m_dopMap.getItem(x, y, z).getHorizontal() != -1: sumNotInvalidHDOP += 1 assert np.sum(hdop != -1) == 0 assert sumNotInvalidHDOP == 0
def test_DOPMap(): world = gnssShadowing.World("data/2017-03-28.tle", "data/uni.obj", "Building") planeLevels = gnssShadowing.PlaneLevelList() planeLevels.extend([56.0]) width_m = 800 height_m = 400 res_x = res_y = 2.0 width = (int)(width_m / res_x) height = (int)(height_m / res_y) min_x = -width_m / 2. min_y = -height_m / 2. mapProperties = gnssShadowing.MapProperties(min_x, min_y, width, height, res_x, res_y, planeLevels) minimumElevation = gnssShadowing.deg2rad(5) mapper = gnssShadowing.Mapper(world, mapProperties, minimumElevation) dopMap = mapper.computeDOPMap( gnssShadowing.mkSeconds(2017, 3, 28, 12, 0, 0)) z = 0 hdop = mapper.m_dopMap.getHDOPMap(z) assert type(hdop) == np.ndarray sumNotInvalidHDOP = 0 for x in range(0, width): for y in range(0, height): if mapper.m_dopMap.getItem(x, y, z).getHorizontal() != -1: sumNotInvalidHDOP += 1 assert np.sum(hdop != -1) == 79859 assert sumNotInvalidHDOP == 79859 hdop = dopMap.getHDOPMap(z) sumNotInvalidHDOP = 0 for x in range(0, width): for y in range(0, height): if dopMap.getItem(x, y, z).getHorizontal() != -1: sumNotInvalidHDOP += 1 assert np.sum(hdop != -1) == 79859 assert sumNotInvalidHDOP == 79859 sumHDOP = 0 for x in range(0, width): for y in range(0, height): sumHDOP += mapper.m_dopMap.getItem(x, y, z).getHorizontal() assert int(sumHDOP * 10) == 526101 assert int(np.sum(hdop)) == int(sumHDOP)
def test_MapTimeProblemSolver(): world = gnssShadowing.World("data/2017-03-28.tle", "data/uni.obj", "Building") planeLevels = gnssShadowing.PlaneLevelList() planeLevels.extend([56.0]) width_m = 800 height_m = 400 res_x = res_y = 10.0 width = (int)(width_m / res_x) height = (int)(height_m / res_y) min_x = -width_m / 2. min_y = -height_m / 2. mapProperties = gnssShadowing.MapProperties(min_x, min_y, width, height, res_x, res_y, planeLevels) minimumElevation = gnssShadowing.deg2rad(5) time = gnssShadowing.mkSeconds(2017, 3, 28, 12, 0, 0) timePerStep = 5 # in seconds mapper = gnssShadowing.MapperLazyTimesteps(world, mapProperties, time, timePerStep, minimumElevation) maxHorizontalDOP = 5 start = gnssShadowing.MapTimeNode(0, gnssShadowing.MapNode(0, 0)) target = gnssShadowing.MapTimeNode(0, gnssShadowing.MapNode(1, 1)) maxHorizontalDOP = 5. costPerHorizontalDOP = 1. costPerGridStep = 1. costPerTimeStep = 1. costPerTimeTotal = 0. timeStepsPerStep = 1 problem = gnssShadowing.MapTimeProblem(maxHorizontalDOP, costPerHorizontalDOP, costPerGridStep, costPerTimeStep, costPerTimeTotal, timeStepsPerStep, mapper, start, target) solver = gnssShadowing.MapTimeProblemSolver() path = solver.findShortestPath(problem) assert type(path) == gnssShadowing.MapTimeNodeList assert path.size() == 3 assert path.at(0).position.x == start.position.x assert path.at(0).position.y == start.position.y assert path.at(path.size() - 1).position.x == target.position.x assert path.at(path.size() - 1).position.y == target.position.y
def test_ShadowMap(): world = gnssShadowing.World("data/2017-03-28.tle", "data/uni.obj", "Building") shadowing = world.m_shadowing now = gnssShadowing.mkSeconds(2017, 3, 28, 12, 0, 0) idx = 57 horizontal = world.m_satStore.getSat(idx).findECEF(now).toENU( world.m_origin).toHorizontal() transformation = shadowing.computeTransformation(horizontal) contour = shadowing.computeContourFromTransformation(transformation) planeLevel = 0 eps = 1e-3 vol = shadowing.computeShadowVolume(contour, transformation, planeLevel, eps) planeLevels = gnssShadowing.PlaneLevelList() planeLevels.extend([56.0]) min_x = 10.0 min_y = 20.0 width = 5 height = 3 res_x = res_y = 2.0 mapProperties = gnssShadowing.MapProperties(min_x, min_y, width, height, res_x, res_y, planeLevels) shadowMap1 = gnssShadowing.ShadowMap(mapProperties) assert type(shadowMap1.m_properties) == gnssShadowing.MapProperties z = 0 # planeLevelIndex for x in range(0, width): for y in range(0, height): assert shadowMap1.isShadowed(x, y, z) == False map1 = shadowMap1.getMapForLevel(0) assert np.sum(map1 != 0) == 0 shadowMap2 = gnssShadowing.ShadowMap(mapProperties, vol) map2 = shadowMap2.getMapForLevel(0) # the reference value (11) was computed for sat #57 in "data/2017-03-28.tle","data/uni.obj" on commit 23e15ee656dcaf805d59ab68965718800f29f1fa assert np.sum(map2 != 0) == 11
def test_MapCoordinateConverter(): world = gnssShadowing.World("data/2017-03-28.tle", "data/uni.obj", "Building") planeLevels = gnssShadowing.PlaneLevelList() planeLevels.extend([56.0]) width_m = 10 height_m = 10 res_x = res_y = 1.0 width = (int)(width_m / res_x) height = (int)(height_m / res_y) min_x = -width_m / 2. min_y = -height_m / 2. mapProperties = gnssShadowing.MapProperties(min_x, min_y, width, height, res_x, res_y, planeLevels) conv = gnssShadowing.MapCoordinateConverter(mapProperties, world.m_origin) a = conv.gridCoordinateToGeodetic(gnssShadowing.MapNode(0, 0)) b = conv.geodeticToGridCoordinate(a) c = conv.geodeticToGridCoordinateF(a) assert type(a) == gnssShadowing.Geodetic assert type(b) == gnssShadowing.MapNode assert type(c) == gnssShadowing.MapNodeF
def test_VisibilityMap(): world = gnssShadowing.World("data/2017-03-28.tle", "data/uni.obj", "Building") planeLevels = gnssShadowing.PlaneLevelList() planeLevels.extend([56.0]) width_m = 800 height_m = 400 res_x = res_y = 2.0 width = (int)(width_m / res_x) height = (int)(height_m / res_y) min_x = -width_m / 2. min_y = -height_m / 2. mapProperties = gnssShadowing.MapProperties(min_x, min_y, width, height, res_x, res_y, planeLevels) minimumElevation = gnssShadowing.deg2rad(5) mapper = gnssShadowing.Mapper(world, mapProperties, minimumElevation) mapper.computeDOPMap(gnssShadowing.mkSeconds(2017, 3, 28, 12, 0, 0)) visibilityMap = mapper.m_visibilityMap sumVisible = 0 z = 0 for x in range(0, width): for y in range(0, height): sumVisible += mapper.m_visibilityMap.getItem(x, y, z).size() assert sumVisible == 1529510