def test_collisions():
L = 10
world = Box(L, L)
# id_vehicle = 'd_SE2_rb_v-rf360'
id_vehicle = 'd_SE2_rb_v-random_5'
get_vehicles_config().load('default')
vehicles = get_conftools_vehicles()
# vehicles.load('default')
vehicle = vehicles.instance(id_vehicle) # @UndefinedVariable
vehicle.set_world_primitives(world.get_primitives())
vehicle.set_pose(SE3.identity())
commands = np.array([1, 0, 0])
# go straight
simulation_length = 10
dt = 0.1
time = 0
steps = int(np.ceil(simulation_length / dt))
for _ in range(steps):
vehicle.simulate(commands, dt)
pose = SE2_from_SE3(vehicle.get_pose())
translation = translation_from_SE2(pose)
# print('t=%.3f %s' % (time, SE2.friendly(pose)))
time += dt
assert translation[0] <= 9.5
assert translation[0] >= 9.4
assert translation[1] == 0
def test_collisions():
L = 10
world = Box(L, L)
# id_vehicle = 'd_SE2_rb_v-rf360'
id_vehicle = 'd_SE2_rb_v-random_5'
get_vehicles_config().load('default')
vehicles = get_conftools_vehicles()
# vehicles.load('default')
vehicle = vehicles.instance(id_vehicle) # @UndefinedVariable
vehicle.set_world_primitives(world.get_primitives())
vehicle.set_pose(SE3.identity())
commands = np.array([1, 0, 0])
# go straight
simulation_length = 10
dt = 0.1
time = 0
steps = int(np.ceil(simulation_length / dt))
for _ in range(steps):
vehicle.simulate(commands, dt)
pose = SE2_from_SE3(vehicle.get_pose())
translation = translation_from_SE2(pose)
# print('t=%.3f %s' % (time, SE2.friendly(pose)))
time += dt
assert translation[0] <= 9.5
assert translation[0] >= 9.4
assert translation[1] == 0
def get_comptests():
# get testing configuration directory
from pkg_resources import resource_filename # @UnresolvedImport
dirname = resource_filename("vehicles_boot", "configs")
from vehicles import get_vehicles_config
get_vehicles_config().load('default')
# load into bootstrapping_olympics
from comptests import get_comptests_app
from bootstrapping_olympics import get_boot_config
boot_config = get_boot_config()
boot_config.load(dirname)
# Our tests are its tests with our configuration
import bootstrapping_olympics
return bootstrapping_olympics.get_comptests()
def get_comptests():
# get testing configuration directory
from pkg_resources import resource_filename # @UnresolvedImport
dirname = resource_filename("vehicles_boot", "configs")
from vehicles import get_vehicles_config
get_vehicles_config().load('default')
# load into bootstrapping_olympics
from comptests import get_comptests_app
from bootstrapping_olympics import get_boot_config
boot_config = get_boot_config()
boot_config.load(dirname)
# Our tests are its tests with our configuration
import bootstrapping_olympics
return bootstrapping_olympics.get_comptests()
