def test_values_2(self):
expected = [[0.06666, 0.06666, 0.06666], [0.06666, 0.26666, 0.26666],
[0.06666, 0.06666, 0.06666]]
colors = [[G, G, G], [G, R, R], [G, G, G]]
robot = Robot(world=colors)
robot.sensor = 0.8
robot.movement = 1.0
actual = robot.localize(measurements=[R], motions=[[0, 0]])
self.assertAlmostEqual(expected, actual, places=4)
def test_values_1(self):
expected = [[0.0, 0.0, 0.0],
[0.0, 0.5, 0.5],
[0.0, 0.0, 0.0]]
colors=[[G, G, G],
[G, R, R],
[G, G, G]]
robot = Robot(world=colors)
robot.sensor = 1.0
robot.movement = 1.0
p = robot._p(len(colors), len(colors[0]))
actual = robot.localize(p=p, measurements=[R], motions=[[0, 0]])
self.assertAlmostEqual(expected, actual)
def test_values_2(self):
expected = [[0.06666, 0.06666, 0.06666],
[0.06666, 0.26666, 0.26666],
[0.06666, 0.06666, 0.06666]]
colors=[[G, G, G],
[G, R, R],
[G, G, G]]
robot = Robot(world=colors)
robot.sensor = 0.8
robot.movement = 1.0
actual = robot.localize(measurements=[R], motions=[[0, 0]])
self.assertAlmostEqual(expected, actual, places=4)
def test_values_3(self):
expected = [[0.03333, 0.03333, 0.03333],
[0.13333, 0.13333, 0.53333],
[0.03333, 0.03333, 0.03333]]
colors = [[G, G, G],
[G, R, R],
[G, G, G]]
robot = Robot(world=colors)
robot.sensor = 0.8
robot.movement = 1.0
p = robot._p(len(colors), len(colors[0]))
actual = robot.localize(p=p,
measurements=[R, R],
motions=[[0, 0], [0, 1]])
self.assertAlmostEqual(expected, actual, places=4)
def test_values_5(self):
expected = [[0.02898, 0.02898, 0.02898],
[0.07246, 0.28985, 0.46376],
[0.02898, 0.02898, 0.02898]]
colors = [[G, G, G],
[G, R, R],
[G, G, G]]
robot = Robot(world=colors)
robot.sensor = 0.8
robot.movement = 0.5
p = robot._p(len(colors), len(colors[0]))
actual = robot.localize(p=p,
measurements=[R, R],
motions=[[0, 0], [0, 1]])
self.assertAlmostEqual(expected, actual, places=4)
def test_values_7(self):
expected = [[0.01105, 0.02464, 0.06799, 0.04472, 0.024651],
[0.00715, 0.01017, 0.08696, 0.07988, 0.00935],
[0.00739, 0.00894, 0.11272, 0.35350, 0.04065],
[0.00910, 0.00715, 0.01434, 0.04313, 0.03642]]
colors = [[R, G, G, R,R],
[R, R, G, R, R],
[R, R, G, G, R],
[R, R, R, R, R]]
robot = Robot(world=colors)
robot.sensor = 0.7
robot.movement = 0.8
p = robot._p(len(colors), len(colors[0]))
actual = robot.localize(p=p,
measurements=[G, G, G,
G, G],
motions=[[0, 0], [0, 1], [1, 0], [1, 0],
[0, 1]])
self.assertAlmostEqual(expected, actual, places=4)
def test_values_1(self):
expected = [[0.0, 0.0, 0.0], [0.0, 0.5, 0.5], [0.0, 0.0, 0.0]]
colors = [[G, G, G], [G, R, R], [G, G, G]]
robot = Robot(world=colors)
robot.sensor = 1.0
robot.movement = 1.0
p = robot._p(len(colors), len(colors[0]))
actual = robot.localize(p=p, measurements=[R], motions=[[0, 0]])
self.assertAlmostEqual(expected, actual)
def test_values_5(self):
expected = [[0.02898, 0.02898, 0.02898], [0.07246, 0.28985, 0.46376],
[0.02898, 0.02898, 0.02898]]
colors = [[G, G, G], [G, R, R], [G, G, G]]
robot = Robot(world=colors)
robot.sensor = 0.8
robot.movement = 0.5
p = robot._p(len(colors), len(colors[0]))
actual = robot.localize(p=p,
measurements=[R, R],
motions=[[0, 0], [0, 1]])
self.assertAlmostEqual(expected, actual, places=4)
def test_values_3(self):
expected = [[0.03333, 0.03333, 0.03333], [0.13333, 0.13333, 0.53333],
[0.03333, 0.03333, 0.03333]]
colors = [[G, G, G], [G, R, R], [G, G, G]]
robot = Robot(world=colors)
robot.sensor = 0.8
robot.movement = 1.0
p = robot._p(len(colors), len(colors[0]))
actual = robot.localize(p=p,
measurements=[R, R],
motions=[[0, 0], [0, 1]])
self.assertAlmostEqual(expected, actual, places=4)
def test_values_7(self):
expected = [[0.01105, 0.02464, 0.06799, 0.04472, 0.024651],
[0.00715, 0.01017, 0.08696, 0.07988, 0.00935],
[0.00739, 0.00894, 0.11272, 0.35350, 0.04065],
[0.00910, 0.00715, 0.01434, 0.04313, 0.03642]]
colors = [[R, G, G, R, R], [R, R, G, R, R], [R, R, G, G, R],
[R, R, R, R, R]]
robot = Robot(world=colors)
robot.sensor = 0.7
robot.movement = 0.8
p = robot._p(len(colors), len(colors[0]))
actual = robot.localize(p=p,
measurements=[G, G, G, G, G],
motions=[[0, 0], [0, 1], [1, 0], [1, 0],
[0, 1]])
self.assertAlmostEqual(expected, actual, places=4)
def test_move_up(self):
bot = Robot(world=self.world)
self.assertEqual([[0, 0, 0, 0, 0], [0, 0, 0, 0, 0], [1, 0, 0, 0, 0]],
bot.move(self.world, [-1, 0]))
def test_move_up_left(self):
bot = Robot(world=self.world)
self.assertEqual([[0, 0, 0, 0, 0], [0, 0, 0, 0, 0], [0, 0, 0, 0, 1]],
bot.move(self.world, [-1, -1]))
def test_move_down_right(self):
bot = Robot(world=self.world)
self.assertEqual([[0, 0, 0, 0, 0], [0, 1, 0, 0, 0], [0, 0, 0, 0, 0]],
bot.move(self.world, [1, 1]))
def test_multiple_motions(self):
bot = Robot(world=self.world)
self.assertEqual(self.world,
bot.move(self.world,
[[1, 0], [0, 1], [-1, 0], [0, -1]]))
def test_move_down_right(self):
bot = Robot(world=self.world)
self.assertEqual([[0, 0, 0, 0, 0],
[0, 1, 0, 0, 0],
[0, 0, 0, 0, 0]],
bot.move(self.world, [1, 1]))
def test_move_up_left(self):
bot = Robot(world=self.world)
self.assertEqual([[0, 0, 0, 0, 0],
[0, 0, 0, 0, 0],
[0, 0, 0, 0, 1]],
bot.move(self.world, [-1, -1]))
def test_move_up(self):
bot = Robot(world=self.world)
self.assertEqual([[0, 0, 0, 0, 0],
[0, 0, 0, 0, 0],
[1, 0, 0, 0, 0]],
bot.move(self.world, [-1, 0]))
def test_stand_still(self):
bot = Robot(world=self.world)
self.assertEqual([[1, 0, 0, 0, 0],
[0, 0, 0, 0, 0],
[0, 0, 0, 0, 0]],
bot.move(self.world, [0, 0]))
def test_stand_still(self):
bot = Robot(world=self.world)
self.assertEqual([[1, 0, 0, 0, 0], [0, 0, 0, 0, 0], [0, 0, 0, 0, 0]],
bot.move(self.world, [0, 0]))
def test_multiple_motions(self):
bot = Robot(world=self.world)
self.assertEqual(
self.world, bot.move(self.world,
[[1, 0], [0, 1], [-1, 0], [0, -1]]))
