Exemple #1
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    def test_3(self):
        myrobot = robot(20.)
        myrobot.set(30., 20., pi / 5.)

        util.arrayCmp(self, myrobot.sense(),
                      [5.376567117456516,  3.101276726419402,
                       1.3012484663475101, 0.22364779645531352])
Exemple #2
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    def test_2(self):
        myrobot = robot(20.)
        myrobot.set(30., 20., 0.)

        util.arrayCmp(self, myrobot.sense(),
                      [6.004885648174475,  3.7295952571373605,
                       1.9295669970654687, 0.8519663271732721])
Exemple #3
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 def test_2(self):
     x, P = self.vars([[1., 4.], [6., 0.], [11., -4.], [16., -8.]],
                      [-4., 8.])
     util.arrayCmp(self, x.value,
                   [[ 15.993335554815062],
                    [ -7.9946684438520501],
                    [ 49.983338887037647],
                    [-39.986671109630123]])
Exemple #4
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 def test_2(self):
     val, pol = self.value([[0, 1, 0],
                            [0, 0, 0]], [0, 2], .5)
     util.arrayCmp(self, val,
                   [[94.041, 1000.0,  0.],
                    [86.082, 73.143, 44.286]], epsilon=1e-3)
     util.arrayCmp(self, pol,
                   [['v', ' ', '*'],
                    ['>', '>', '^']])
Exemple #5
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 def test_1(self):
     val, pol = self.value([[0, 0, 0],
                            [0, 0, 0]], [0, 2], .5)
     util.arrayCmp(self, val,
                   [[60.472, 37.193,  0.],
                    [63.503, 44.770, 37.193]], epsilon=1e-3)
     util.arrayCmp(self, pol,
                   [['>', '>', '*'],
                    ['>', '^', '^']])
Exemple #6
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 def test_4(self):
     x, P = self.vars([[2., 17.], [0., 15.], [2., 13.], [0., 11.]],
                      [1., 19.])
     util.arrayCmp(self, x.value,
                   [[  0.73342219260246477],
                    [ 11.002665778073975],
                    [ -0.66644451849384057],
                    [-19.993335554815054]])
     util.arrayCmp(self, P.value,
                   [[.053315561479506911, .0, .13328890369876803, .0],
                    [.0, .053315561479506911, .0, .13328890369876803],
                    [.13328890369876789,  .0, .33322225924692717, .0],
                    [.0, .13328890369876789,  .0, .33322225924692717]])
Exemple #7
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 def test_3(self):
     x, P = self.vars([[1., 17.], [1., 15.], [1., 13.], [1., 11.]],
                      [1., 19.])
     util.arrayCmp(self, x.value,
                   [[  1.0],
                    [ 11.002665778073975],
                    [  0.0],
                    [-19.993335554815054]])
     util.arrayCmp(self, P.value,
                   [[.053315561479506911, .0, .13328890369876803, .0],
                    [.0, .053315561479506911, .0, .13328890369876803],
                    [.13328890369876789,  .0, .33322225924692717, .0],
                    [.0, .13328890369876789,  .0, .33322225924692717]])
Exemple #8
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 def test_1(self):
     x, P = self.vars([[5., 10.], [6., 8.], [7., 6.], [8., 4.], [9., 2.], [10., 0.]],
                      [4., 12.])
     util.arrayCmp(self, x.value,
                   [[  9.9993407317877168],
                    [  0.001318536424568617],
                    [  9.9989012196461928],
                    [-19.997802439292386]])
     util.arrayCmp(self, P.value,
                   [[.039556092737061982, .0, .06592682122843721, .0],
                    [.0, .039556092737061982, .0, .06592682122843721],
                    [.065926821228437182, .0, .10987803538073201, .0],
                    [.0, .065926821228437182, .0, .10987803538073201]])
Exemple #9
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 def test_4(self):
     val, pol = self.value([[0, 0, 0, 0],
                            [0, 0, 0, 0],
                            [0, 0, 0, 0],
                            [0, 1, 1, 0]], [0, 3], 1.)
     util.arrayCmp(self, val,
                   [[3.,    2.,    1., 0.],
                    [4.,    3.,    2., 1.],
                    [5.,    4.,    3., 2.],
                    [6., 1000., 1000., 3.]], epsilon=1e-3)
     util.arrayCmp(self, pol,
                   [['>', '>', '>', '*'],
                    ['^', '^', '^', '^'],
                    ['^', '^', '^', '^'],
                    ['^', ' ', ' ', '^']])
Exemple #10
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 def test_3(self):
     val, pol = self.value([[0, 0, 0, 0],
                            [0, 0, 0, 0],
                            [0, 0, 0, 0],
                            [0, 1, 1, 0]], [0, 3], .5)
     util.arrayCmp(self, val,
                   [[57.903, 40.278, 26.066, 0.],
                    [47.055, 36.572, 29.994, 27.270],
                    [53.172, 42.023, 37.775, 45.092],
                    [77.586, 1000.0, 1000.0, 73.546]], epsilon=1e-3)
     util.arrayCmp(self, pol,
                   [['>', 'v', 'v', '*'],
                    ['>', '>', '^', '<'],
                    ['>', '^', '^', '<'],
                    ['^', ' ', ' ', '^']])
Exemple #11
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 def test_6(self):
     x = {
         'colors': [['green', 'green', 'green'],
                    ['green', 'red',   'red'],
                    ['green', 'green', 'green']],
         'measurements': ['red', 'red'],
         'motions':      [[0,0], [0,1]],
         'sensor_right': 0.8,
         'p_move':       0.5,
         'p':            [],
         }
     exec self.code in x
     util.arrayCmp(self, x['p'],
         [[.028985507246376808, .028985507246376808, .028985507246376808],
          [.072463768115942032, .28985507246376818,  .4637681159420291],
          [.028985507246376808, .028985507246376808, .028985507246376808]])
Exemple #12
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 def test_5(self):
     x = {
         'colors': [['green', 'green', 'green'],
                    ['green', 'red',   'red'],
                    ['green', 'green', 'green']],
         'measurements': ['red', 'red'],
         'motions':      [[0,0], [0,1]],
         'sensor_right': 1.0,
         'p_move':       1.0,
         'p':            [],
         }
     exec self.code in x
     util.arrayCmp(self, x['p'],
                   [[0.0, 0.0, 0.0],
                    [0.0, 0.0, 1.0],
                    [0.0, 0.0, 0.0]])
Exemple #13
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 def test_4(self):
     x = {
         'colors': [['green', 'green', 'green'],
                    ['green', 'red',   'red'],
                    ['green', 'green', 'green']],
         'measurements': ['red', 'red'],
         'motions':      [[0,0], [0,1]],
         'sensor_right': 0.8,
         'p_move':       1.0,
         'p':            [],
         }
     exec self.code in x
     util.arrayCmp(self, x['p'],
         [[.033333333333333333, .033333333333333333, .033333333333333333],
          [.133333333333333333, .13333333333333336,  .53333333333333344],
          [.033333333333333333, .033333333333333333, .033333333333333333]])
Exemple #14
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 def test_3(self):
     x = {
         'colors': [['green', 'green', 'green'],
                    ['green', 'red',   'red'],
                    ['green', 'green', 'green']],
         'measurements': ['red'],
         'motions':      [[0,0]],
         'sensor_right': 0.8,
         'p_move':       1.0,
         'p':            [],
         }
     exec self.code in x
     util.arrayCmp(self, x['p'],
         [[.066666666666666666, .066666666666666666, .066666666666666666],
          [.066666666666666666, .26666666666666672,  .26666666666666672],
          [.066666666666666666, .066666666666666666, .066666666666666666]])
Exemple #15
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 def test_8(self):
     x = {
         'colors': [['red', 'green', 'green', 'red',   'red'],
                    ['red', 'red',   'green', 'red',   'red'],
                    ['red', 'red',   'green', 'green', 'red'],
                    ['red', 'red',   'red',   'red',   'red']],
         'measurements': ['green', 'green', 'green', 'green', 'green'],
         'motions':      [[0,0],   [0,1],   [1,0],   [1,0],   [0,1]],
         'sensor_right': 0.7,
         'p_move':       0.8,
         'p':            [],
         }
     exec self.code in x
     util.arrayCmp(self, x['p'],
         [[.011059807427972012,  .02464041578496803,   .067996628067859152, .044724870458121582, .02465153121665372],
          [.0071532041833209815, .010171326481705892,  .086965960026646888, .07988429965998084,  .0093506685084371859],
          [.0073973668861116709, .0089437306704527025, .11272964670259776,  .35350722955212721,  .040655492078276775],
          [.0091065058056464965, .0071532041833209815, .014349221618346574, .043133291358448948, .036425599329004736]])
Exemple #16
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    def test_1(self):
        myrobot = robot(20.)
        myrobot.set(0., 0., 0.)

        util.arrayCmp(self, myrobot.sense(),
                      [0., 0., 1.5707963267948966, 0.78539816339744828])