def test_textured_raytracer_box():
world = Box(10, 10)
sensor = TexturedRaytracer(directions=np.linspace(-np.pi / 2, +np.pi /
2, 181))
sensor.set_world_primitives(world.get_primitives())
pose = SE2_from_translation_angle([0, 0], 0)
sensor.raytracing(pose)
def test_textured_raytracer_box():
world = Box(10, 10)
sensor = TexturedRaytracer(directions=np.linspace(-np.pi / 2,
+ np.pi / 2, 181))
sensor.set_world_primitives(world.get_primitives())
pose = SE2_from_translation_angle([0, 0], 0)
sensor.raytracing(pose)
def test_raytracer_box():
world = Box(10, 10)
sensor = MyRaytracer(directions=np.linspace(0, np.pi * 2, 181))
sensor.set_world_primitives(world.get_primitives())
pose = SE2_from_translation_angle([0, 0], 0)
observations = sensor.raytracing(pose)
readings = np.array(observations['readings'])
#coords = np.array(observations['curvilinear_coordinate'])
# print observations
assert np.array(observations['valid']).all()
assert (readings <= 10 * np.sqrt(2) + 0.0001).all()
assert (readings >= 10).all()
hit, _ = sensor.query_circle([0, 0], 1)
assert not hit
hit, _ = sensor.query_circle([0, 0], 11)
assert hit
def test_raytracer_box():
world = Box(10, 10)
sensor = MyRaytracer(directions=np.linspace(0, np.pi * 2, 181))
sensor.set_world_primitives(world.get_primitives())
pose = SE2_from_translation_angle([0, 0], 0)
observations = sensor.raytracing(pose)
readings = np.array(observations['readings'])
#coords = np.array(observations['curvilinear_coordinate'])
# print observations
assert np.array(observations['valid']).all()
assert (readings <= 10 * np.sqrt(2) + 0.0001).all()
assert (readings >= 10).all()
hit, _ = sensor.query_circle([0, 0], 1)
assert not hit
hit, _ = sensor.query_circle([0, 0], 11)
assert hit