def test_merge_rectangles5(self):
centers = np.array([[-2,-2], [2,2], [0,0], [10,10], [13,13], [12,12]])
widths = np.array([2,2,2,1,1,1]).reshape((len(centers),1))
heights = np.array([2,2,2,1,1,1]).reshape((len(centers),1))
eg = EnvironmentGenerator([0, 50], [0, 50], [1,5], [1, 5])
obstacles = eg.merge_rectangles_into_obstacles(centers, widths, heights, epsilon=0.2)
self.assertEqual(len(obstacles), 3)
def test_segment_in_free_space(self):
centers = np.array([[0,0]])
widths = np.array([10]).reshape((len(centers),1))
heights = np.array([10]).reshape((len(centers),1))
eg = EnvironmentGenerator([0, 50], [0, 50], [1,5], [1, 5])
obstacles = eg.merge_rectangles_into_obstacles(centers, widths, heights, epsilon=0.2)
env = Environment(eg.x_range, eg.y_range, list(obstacles.values()))
self.assertFalse(env.segment_is_in_free_space(-5, 1, 5, 1))
self.assertTrue(env.segment_is_in_free_space(-5,-4, 5, -4))
def test_merge_rectangles2(self):
centers = np.array([[-2, -2], [2, 2], [0, 0], [11, 11], [10, 10]])
widths = np.array([2, 2, 2, 1, 1]).reshape((len(centers), 1))
heights = np.array([2, 2, 2, 1, 1]).reshape((len(centers), 1))
eg = EnvironmentGenerator([0, 50], [0, 50], [1, 5], [1, 5])
obstacles = eg.merge_rectangles_into_obstacles(centers,
widths,
heights,
epsilon=0.2)
self.assertEqual(len(obstacles), 2)
def test_segment_in_free_space(self):
centers = np.array([[0, 0]])
widths = np.array([10]).reshape((len(centers), 1))
heights = np.array([10]).reshape((len(centers), 1))
eg = EnvironmentGenerator([0, 50], [0, 50], [1, 5], [1, 5])
obstacles = eg.merge_rectangles_into_obstacles(centers,
widths,
heights,
epsilon=0.2)
env = Environment(eg.x_range, eg.y_range, list(obstacles.values()))
self.assertFalse(env.segment_is_in_free_space(-5, 1, 5, 1))
self.assertTrue(env.segment_is_in_free_space(-5, -4, 5, -4))
def test_save_read(self):
centers = np.array([[4,4], [10,10]])
widths = np.array([1,1]).reshape((len(centers),1))
heights = np.array([3,3]).reshape((len(centers),1))
eg = EnvironmentGenerator([0, 100], [0, 100], [1,5], [1, 5])
obstacles = eg.merge_rectangles_into_obstacles(centers, widths, heights, epsilon=0.2)
env = Environment(eg.x_range, eg.y_range, list(obstacles.values()))
centers2 = np.array([[5,5], [10,10]])
widths2 = np.array([1,1]).reshape((len(centers2),1))
heights2 = np.array([2,2]).reshape((len(centers2),1))
eg2 = EnvironmentGenerator([0, 100], [0, 100], [1,5], [1, 5])
obstacles2 = eg2.merge_rectangles_into_obstacles(centers2, widths2, heights2, epsilon=0.2)
env2 = Environment(eg2.x_range, eg2.y_range, list(obstacles2.values()))
ec = EnvironmentCollection()
ec.x_range = [0, 100]
ec.y_range = [0, 100]
ec.width_range = [1,5]
ec.height_range = [1,5]
ec.num_environments = 0
ec.map_collection = {0: env, 1: env2}
ec.save('./temp.pkl')
ec2 = EnvironmentCollection()
ec2.read('./temp.pkl')
self.assertEqual(ec2.x_range, ec.x_range)
self.assertEqual(ec2.y_range, ec.y_range)
self.assertEqual(ec2.map_collection, ec.map_collection)
os.remove('./temp.pkl')
def test_save_read(self):
centers = np.array([[4, 4], [10, 10]])
widths = np.array([1, 1]).reshape((len(centers), 1))
heights = np.array([3, 3]).reshape((len(centers), 1))
eg = EnvironmentGenerator([0, 100], [0, 100], [1, 5], [1, 5])
obstacles = eg.merge_rectangles_into_obstacles(centers,
widths,
heights,
epsilon=0.2)
env = Environment(eg.x_range, eg.y_range, list(obstacles.values()))
centers2 = np.array([[5, 5], [10, 10]])
widths2 = np.array([1, 1]).reshape((len(centers2), 1))
heights2 = np.array([2, 2]).reshape((len(centers2), 1))
eg2 = EnvironmentGenerator([0, 100], [0, 100], [1, 5], [1, 5])
obstacles2 = eg2.merge_rectangles_into_obstacles(centers2,
widths2,
heights2,
epsilon=0.2)
env2 = Environment(eg2.x_range, eg2.y_range, list(obstacles2.values()))
ec = EnvironmentCollection()
ec.x_range = [0, 100]
ec.y_range = [0, 100]
ec.width_range = [1, 5]
ec.height_range = [1, 5]
ec.num_environments = 0
ec.map_collection = {0: env, 1: env2}
ec.save('./temp.pkl')
ec2 = EnvironmentCollection()
ec2.read('./temp.pkl')
self.assertEqual(ec2.x_range, ec.x_range)
self.assertEqual(ec2.y_range, ec.y_range)
self.assertEqual(ec2.map_collection, ec.map_collection)
os.remove('./temp.pkl')