def test_readings_for_obstacles_old_new():
laser_angles = lasers.default_laser_angles()
laser_max_range = lasers.default_laser_max_range()
obstacles = np.array([
[-4.475, 1.45, 0.4],
[-1.3, 1.025, 0.4],
[-3.0, -1.55, 0.4],
[0.65, -1.95, 0.4],
[-1.95, -3.8, 0.4],
[0.15, -5.625, 0.4]
])
lx = -6.1039
ly = -0.0499926
for ltheta in np.arange(-np.pi, np.pi, 0.1):
print ltheta
readings_1 = lasers.readings_for_obstacles_old(
lx, ly, ltheta, laser_angles, laser_max_range, obstacles)
readings_2 = fast.readings_for_obstacles(
lx, ly, ltheta, laser_angles, laser_max_range, obstacles)
nose.tools.assert_true(np.sum(np.abs(readings_1 - readings_2)) < 1e-6)
def readings_for_obstacles_old():
return lasers.readings_for_obstacles_old(
true_x, true_y, true_theta,
laser_angles, laser_max_range,
obstacles)
