def test_waypoints_sensor_with_cut_in_task(cut_in_scenarios):
scenario = next(cut_in_scenarios)
sim = mock.Mock()
nei_vehicle = mock.Mock()
nei_vehicle.speed = 10
sim.elapsed_sim_time = 4
nei_vehicle.pose = Pose(
position=np.array([25, -68, 0]),
orientation=[0, 0, 0, 0],
heading_=Heading(0),
)
sim.neighborhood_vehicles_around_vehicle = mock.MagicMock(
return_value=[nei_vehicle])
vehicle = mock.Mock()
vehicle.pose = Pose(
position=np.array([35, -65, 0]),
orientation=[0, 0, 0, 0],
heading_=Heading(0),
)
mission_planner = MissionPlanner(scenario.waypoints, scenario.road_network,
AgentBehavior(aggressiveness=3))
mission = scenario.missions[AGENT_ID]
mission_planner.plan(mission)
sensor = WaypointsSensor(sim, vehicle, mission_planner)
waypoints = sensor()
assert len(waypoints) == 1
def test_waypoints_sensor_with_uturn_task(uturn_scenarios):
scenario = next(uturn_scenarios)
sim = mock.Mock()
vehicle = mock.Mock()
sim.elapsed_sim_time = 1
sim.timestep_sec = 0.1
nei_vehicle = mock.Mock()
nei_vehicle.pose = Pose(
position=np.array([93, -59, 0]),
orientation=[0, 0, 0, 0],
heading_=Heading(0),
)
nei_vehicle.speed = 13.8
sim.neighborhood_vehicles_around_vehicle = mock.MagicMock(
return_value=[nei_vehicle])
vehicle.pose = Pose(
position=np.array([25, -61, 0]),
orientation=[0, 0, 0, 0],
heading_=Heading(0),
)
mission_planner = MissionPlanner(scenario.waypoints, scenario.road_network,
AgentBehavior(aggressiveness=3))
mission = scenario.missions[AGENT_ID]
mission_planner.plan(mission)
mission_planner._task_is_triggered = True
sensor = WaypointsSensor(sim, vehicle, mission_planner)
waypoints = sensor()
assert len(waypoints) == 1
def test_waypoints_sensor(scenarios):
scenario = next(scenarios)
sim = mock.Mock()
vehicle = mock.Mock()
vehicle.pose = Pose(
position=np.array([33, -65, 0]),
orientation=np.array([0, 0, 0, 0]),
heading_=Heading(0),
)
mission = scenario.missions[AGENT_ID]
plan = Plan(scenario.road_map, mission)
sensor = WaypointsSensor(vehicle, plan)
waypoints = sensor()
assert len(waypoints) == 3
def test_waypoints_sensor(scenarios):
scenario = next(scenarios)
sim = mock.Mock()
vehicle = mock.Mock()
vehicle.pose = Pose(
position=np.array([33, -65, 0]),
orientation=[0, 0, 0, 0],
heading_=Heading(0),
)
mission_planner = MissionPlanner(scenario.waypoints, scenario.road_network)
mission = scenario.missions[AGENT_ID]
mission_planner.plan(mission)
sensor = WaypointsSensor(sim, vehicle, mission_planner)
waypoints = sensor()
assert len(waypoints) == 3