def test_init_pos_y(self):
print('initial y-axis position test')
env = SimpleVehicle()
self.observation = env.reset()
self.assertGreater(self.observation[1],10, 'robot is not started from above y-position 10')
self.assertLess(self.observation[1],20, 'robot is not started below y-position 20')
def test_init_pos_x(self):
print('initial x-axis position test')
env = SimpleVehicle()
self.observation = env.reset()
self.assertGreater(self.observation[0],-10, 'robot is not started from above x-position -10')
self.assertLess(self.observation[0],10, 'robot is not started below x-position 10')
def test_env(self):
print('test vehicle environment')
env = SimpleVehicle()
self.assertIsNone(env.fig)
self.assertIsNone(env.ax)
self.assertGreater(env.xlim[1], env.xlim[0], 'lower x-limit is greater than higher x-limit')
self.assertGreater(env.ylim[1], env.ylim[0], 'lower y-limit is greater than higher y-limit')
self.assertGreater(env.dt, 0., 'sampling time is zero')
def check_discrete_action():
print('check discrete action function')
env = SimpleVehicle()
action = discrete_action(3) # choose any number
list_action_length = env.discrete_action_size
# speed
assertGreater(action[0], 0, 'speed is less than 1')
assertLess(action[0], 4, 'speed is greater than 3')
# heading
assertGreater(action[1], -np.pi/4, 'heading is less than -pi/4')
assertLess(action[1], np.pi/4, 'heading is greater than pi/4')
def test_rl_action(self):
print('test RL action')
env = SimpleVehicle()
state = env.reset()
state_size = env.state_size
action_size = env.discrete_action_size
agent = ReinforceAgent(state_size, action_size)
action = agent.getAction(state)
print('action: ', action)
self.assertGreater(action,-1, 'action number is lower than 0')
self.assertLess(action,6, 'action number is greater than 5')
def test_min_reward(self):
print('test minimum reward')
env = SimpleVehicle()
state = env.reset()
state_size = env.state_size
action_size = env.discrete_action_size
agent = ReinforceAgent(state_size, action_size)
action = agent.getAction(state)
next_state, reward, done = env.discrete_step(action)
print('action: ', action)
print('reward: ', reward)
self.assertGreater(reward,0.001, 'reward is greater than 0.001')
def test_next_state_left_fast(self):
print('test left move fast')
env = SimpleVehicle()
next_state = env.reset()
print(next_state)
init = copy.copy(next_state)
action = 1# move left
next_state, reward, done = env.discrete_step(action)
print(next_state)
print(init)
self.assertNotEqual(init[0],next_state[0], 'initial and next state x-position are the same')
self.assertNotEqual(init[1],next_state[1], 'initial and next state y-position are the same')
self.assertLess(init[2],next_state[2], 'next state heading is less than initial')
def test_next_state_straight_fast(self):
print('test straight move fast')
env = SimpleVehicle()
next_state = env.reset()
print(next_state)
init = copy.copy(next_state)
action = 3# move straight fast
next_state, reward, done = env.discrete_step(action)
print(next_state)
print(init)
self.assertNotEqual(init[0],next_state[0], 'initial and next state x-position are the same')
self.assertNotEqual(init[1],next_state[1], 'initial and next state y-position are the same')
self.assertEqual(init[2],next_state[2], 'initial and next state heading are NOT the same')
def test_next_state_right(self):
print('test right move')
env = SimpleVehicle()
next_state = env.reset()
print(next_state)
init = copy.copy(next_state)
action = 4# move right
next_state, reward, done = env.discrete_step(action)
print(next_state)
print(init)
self.assertNotEqual(init[0],next_state[0], 'initial and next state x-position are the same')
self.assertNotEqual(init[1],next_state[1], 'initial and next state y-position are the same')
self.assertGreater(init[2],next_state[2], 'next state heading is greater than initial')
def test_done_condition(self):
print('check done condition')
env = SimpleVehicle()
state = env.reset()
state_size = env.state_size
action_size = env.discrete_action_size
agent = ReinforceAgent(state_size, action_size)
action = agent.getAction(state)
next_state, reward, done = env.discrete_step(action)
if (env._border_fcn(env.tmpstep[:, 0]) > env.tmpstep[:, 1]).any() \
or (env.tmpstep[:, 0] < env.xlim[0]).any() \
or (env.tmpstep[:, 0] > env.xlim[1]).any() \
or (env.tmpstep[:, 1] < env.ylim[0]).any() \
or (env.tmpstep[:, 1] > env.ylim[1]).any() \
or ((env.tmpstep[:, 0] > min(env.ox1)).any() and (env.tmpstep[:, 0] < max(env.ox1)).any() and (env.tmpstep[:, 1] > min(env.oy1)).any() and (env.tmpstep[:, 1] < max(env.oy1)).any()) \
or ((env.tmpstep[:, 0] > min(env.ox2)).any() and (env.tmpstep[:, 0] < max(env.ox2)).any() and (env.tmpstep[:, 1] > min(env.oy2)).any() and (env.tmpstep[:, 1] < max(env.oy2)).any()):
self.assertTrue(done, 'done is False')
else:
self.assertFalse(done, 'done is True')
def test_init_heading(self):
print('initial heading orientation test')
env = SimpleVehicle()
self.observation = env.reset()
self.assertLess(self.observation[2],2*np.pi, 'robot heading is not started from below 2*pi')