def test_find_goal(
self): # only functions with 'test_'-prefix will be run!
# Set up path
pp = PurePursuit()
pp.path = Path()
pose0 = PoseStamped()
pose0.pose.position.x = 0.0
pose0.pose.position.y = 0.0
pp.path.poses.append(pose0)
pose1 = PoseStamped()
pose1.pose.position.x = 1.0
pose1.pose.position.y = 0.0
pp.path.poses.append(pose1)
pose2 = PoseStamped()
pose2.pose.position.x = 2.0
pose2.pose.position.y = 1.0
pp.path.poses.append(pose2)
pp.lookahead = 1.0
# Set up test inputs
x = [np.array([-0.25, 0.0]), np.array([0.5, 0.]), np.array([1.5, 0.5])]
# Desired outputs
goals_true = [
np.array([0.75, 0.]),
np.array([1.41143782777, 0.411437827766]),
np.array([2., 1.])
]
# Ensure that calculated outputs match desired outputs
err_msg = "test point ({},{}) has the wrong goal ({}, {}) instead of ({}, {})"
for i in range(0, len(x)):
(pt, dist, seg) = pp.find_closest_point(x[i])
goal = pp.find_goal(x[i], pt, dist, seg)
self.assertTrue(
np.linalg.norm(goal - goals_true[i]) < 1e-6,
err_msg.format(x[i][0], x[i][1], goal[0], goal[1],
goals_true[i][0], goals_true[i][1]))
def test_find_closest_point(
self): # only functions with 'test_'-prefix will be run!
# Set up path
pp = PurePursuit()
pp.path = Path()
pose0 = PoseStamped()
pose0.pose.position.x = 0.0
pose0.pose.position.y = 0.0
pp.path.poses.append(pose0)
pose1 = PoseStamped()
pose1.pose.position.x = 1.0
pose1.pose.position.y = 0.0
pp.path.poses.append(pose1)
pose2 = PoseStamped()
pose2.pose.position.x = 2.0
pose2.pose.position.y = 1.0
pp.path.poses.append(pose2)
# Set up test inputs
x = [
np.array([-1., 0.]),
np.array([0., 0.1]),
np.array([0.5, 0.5]),
np.array([0.9, -1.]),
np.array([1.5, 0.5]),
np.array([2., 0.5]),
np.array([3., 3.])
]
#x = np.array([-1., 0., 0.5, 0.9, 1.5, 2.0, 3.0])
#y = np.array([ 0., 0.1, 0.5, -1., 0.5, 0.5, 3.0])
# Desired outputs
pts_true = [
np.array([0., 0.]),
np.array([0., 0.]),
np.array([0.5, 0.]),
np.array([0.9, 0.]),
np.array([1.5, 0.5]),
np.array([1.75, 0.75]),
np.array([2., 1.])
]
dists_true = [1., 0.1, 0.5, 1.0, 0., 0.25 * np.sqrt(2.), np.sqrt(5.)]
segs_true = [0, 0, 0, 0, 1, 1, 1]
# Ensure that calculated outputs match desired outputs
err_msg_pt = "test point ({},{}) has the wrong closest point ({}, {}) instead of ({}, {})"
err_msg_dist = "test point ({},{}) has the wrong distance ({} instead of {})"
err_msg_seg = "test point ({},{}) has the wrong segment ({} instead of {})"
for i in range(0, len(x)):
(pt, dist, seg) = pp.find_closest_point(x[i])
self.assertTrue(
np.linalg.norm(pt - pts_true[i]) < 1e-6,
err_msg_pt.format(x[i][0], x[i][1], pt[0], pt[1],
pts_true[i][0], pts_true[i][1]))
self.assertTrue(
np.abs(dist - dists_true[i]) < 1e-6,
err_msg_dist.format(x[i][0], x[i][1], dist, dists_true[i]))
self.assertEqual(
seg, segs_true[i],
err_msg_seg.format(x[i][0], x[i][1], seg, segs_true[i]))
