def test_do_calculate_reward_if_forward():
env = NavigationTrack()
env._ranges = np.array([2, 1, 10, 4, 5])
reward = env._do_calculate_reward(env._FORWARD)
assert reward == 5
def test_do_check_if_done_false():
env = NavigationTrack()
env._ranges = np.array([2, 1, 10, 4, 5])
done = env._do_check_if_done()
assert not done
def test_do_calculate_reward_if_done():
env = NavigationTrack()
env._ranges = np.array([0.5, 1, 0.01, 4, 5])
reward = env._do_calculate_reward(env._FORWARD)
assert reward == -200
def test_do_check_if_done_true():
env = NavigationTrack()
env._ranges = np.array([0.5, 1, 0.01, 4, 5])
done = env._do_check_if_done()
assert done
def test_do_calculate_reward_if_yaw():
env = NavigationTrack()
env._ranges = np.array([2, 1, 10, 4, 5])
reward1 = env._do_calculate_reward(env._YAW_RIGHT)
reward2 = env._do_calculate_reward(env._YAW_LEFT)
assert reward1 == reward2 == -0.5
def test_do_update_observation():
env = NavigationTrack()
env._pose = Pose(Point(0, 8.5), 0.78539816339)
env._do_update_observation()
assert np.allclose(env._observation,
[2.12132034356, 1.5, 2.12132034356, 10, 2.12132034356],
atol=0.06)
def test_yaw_right_action():
env = NavigationTrack()
env._pose = Pose(Point(0, 8.5), 0)
env._do_perform_action(env._YAW_RIGHT)
assert math.isclose(env._pose.position.x_coordinate, 0)
assert math.isclose(env._pose.position.y_coordinate, 8.54, abs_tol=0.06)
assert math.isclose(env._pose.yaw, 0.2, abs_tol=0.06)
def test_forward_action():
env = NavigationTrack()
env._pose = Pose(Point(0, 8.5), 0)
env._do_perform_action(env._FORWARD)
assert math.isclose(env._pose.position.x_coordinate, 0)
assert math.isclose(env._pose.position.y_coordinate, 8.7, abs_tol=0.06)
assert math.isclose(env._pose.yaw, 0, abs_tol=0.06)
def test_invalid_track_id():
with pytest.raises(ValueError):
_ = NavigationTrack(-1)