def check_client_step_called(self, type):
input_controls = UAVControls(self.recorder.numUAVs, type)
for i in xrange(self.recorder.numUAVs):
input_controls.U[i, :] = i
dt = 0.1
self.recorder.step(dt, input_controls)
self.client.step.assert_called_once_with(dt, input_controls)
def get_controls(self, noisy_states):
controls = UAVControls(len(noisy_states), 'vel')
if self.targets is None:
controls.U.fill(0)
else:
assert len(noisy_states) == len(self.targets)
for uav in xrange(len(noisy_states)):
controls.U[uav, :] = self._get_velocities(
uav, noisy_states, self.targets[uav])
return controls
def check_client_step_type_specific_called(self, type):
input_controls = UAVControls(self.recorder.numUAVs, type)
for i in xrange(self.recorder.numUAVs):
input_controls.U[i, :] = i
dt = 0.1
getattr(self.recorder, 'step_' + type)(dt, input_controls.U)
class MatchInputControls(object):
def __init__(self, obj):
self.obj = obj
def __eq__(self, other):
if self.obj.type != other.type:
return False
assert_equal(self.obj.U, other.U)
return True
self.client.step.assert_called_once_with(
dt, MatchInputControls(input_controls))
def check_control_recording_of_step(self, type):
input_controls = UAVControls(self.recorder.numUAVs, type)
for i in xrange(self.recorder.numUAVs):
input_controls.U[i, :] = i
dt = 0.1
steps = 3
for i in xrange(steps):
self.recorder.step(dt, input_controls)
self.fileh.flush()
dim = ctrl_signal_dimensions[type]
controls = self.recorder.controls
assert_that(controls.cols.type, only_contains(
getattr(ControlsRecorder.Controls.columns['type'].enum, type)))
assert_that(controls.cols.dt[:], only_contains(0.1))
for i in xrange(self.recorder.numUAVs):
assert_equal(
[x['U'][:dim] for x in controls.where('uav == %i' % i)],
np.tile(dim * [i], (steps, 1)))
def step_wp(self, dt, WPs):
controls = UAVControls(len(WPs), 'wp')
controls.U[:, :] = WPs
self.step(dt, controls)
def step_vel(self, dt, vels):
controls = UAVControls(len(vels), 'vel')
controls.U[:, :] = vels
self.step(dt, controls)
def step_ctrl(self, dt, ctrl):
controls = UAVControls(len(ctrl), 'ctrl')
controls.U[:, :] = ctrl
self.step(dt, controls)
