def testPickling(self):
""" Testing that we can render() even after a pickling """
raytracer = Rangefinder(min_num_aux=1)
raytracer.set_map(example_world)
raytracer.add_photoreceptors(linspace(-deg2rad(170), deg2rad(170), 180),
spatial_sigma=deg2rad(0.5), sigma=0.01)
raytracer.render(RigidBodyState())
raytracer2 = make_sure_pickable(raytracer)
raytracer2.render(RigidBodyState())
make_sure_pickable(raytracer2)
def try_with(self, center, radius, position, orientation):
world = {
"class": "map",
"objects": [
{
"class": "circle", "surface": 1, "radius": radius, "center": center, "texture": "lambda x: 0",
"solid_inside": 0
}
]
}
raytracer = Rangefinder(min_num_aux=1)
raytracer.set_map(world)
raytracer.add_photoreceptors(linspace(-deg2rad(170), deg2rad(170), 180),
spatial_sigma=deg2rad(0.5), sigma=0.01)
rbs = RigidBodyState(position, orientation)
data = raytracer.render(rbs)
# given min_num_aux and spatial_sigma < 1, we expect
# only one aux ray per photoreceptors
for indices in raytracer.aux_indices:
self.assertEqual(len(indices), 1)
# The direction should remain the same
for i in range(len(raytracer.directions)):
j = raytracer.aux_indices[i][0]
self.assertEqual(i, j)
self.assertEqual(rad2deg(raytracer.directions[i]),
rad2deg(raytracer.aux_directions[j]))
# If we are inside the circle, then everything should be valid
if linalg.norm(array(position) - array(center)) < radius:
for valid in data['valid']:
self.assertEqual(valid, 1)
phi_world = numpy.array(raytracer.directions) + orientation
rho = numpy.array(data['readings'])
points = vstack([ cos(phi_world) * rho, sin(phi_world) * rho ])
center_world = array(center) - array(position)
for i in range(points.shape[1]):
if not data['valid'][i]:
continue
distance_to_center = linalg.norm(points[:, i] - center_world)
self.assertAlmostEqual(distance_to_center, radius, 5)