def testUse(self):
pls = PolarizedLightSensor(45)
self.assertEqual(len(pls.directions), 45)
pose1 = RigidBodyState(attitude=0.1)
data1 = pls.compute_observations(pose1)
self.assertTrue('response' in data1)
self.assertTrue('sensels' in data1)
self.assertTrue(assert_1d_ndarray(array(data1['sensels'])))
self.assertTrue(assert_1d_ndarray(array(data1['response'])))
def compute_observations(self, vehicle_state=None):
""" Computes the sensor observations at a certain state.
OK, you might think this function is kind of mysterious
because of all the introspection we use. However, a little
black magic here helps in making the client interface
clear and intuitive.
"""
if vehicle_state is None:
vehicle_state = self.state
data = OpenStruct()
data.sensels = []
data.all_sensors = []
for sensor_type in self.config.sensor_types.keys():
setattr(data, sensor_type, [])
for i, sensor in enumerate(self.config.sensors):
mountpoint = self.sensor2mountpoint[sensor]
sensor_pose = vehicle_state.oplus(mountpoint)
sensor_data = sensor.compute_observations(sensor_pose)
if not 'sensels' in sensor_data:
raise BVException('Sensor %s did not produce a "sensels" variable' %
sensor)
for k, v in sensor_data.items():
if isinstance(v, list):
sensor_data[k] = array(v)
sensor_data = OpenStruct(**sensor_data)
data_array = getattr(data, sensor.sensor_type_string())
data_array.append(sensor_data)
data.all_sensors.append(sensor_data)
assert_reasonable_value(sensor_data.sensels)
assert_1d_ndarray(sensor_data.sensels)
data.sensels.extend(list(sensor_data.sensels))
data.sensels = array(data.sensels)
return data
