def test_dataset2(self):
# ARRANGE
measurements = [[1., 4.], [6., 0.], [11., -4.], [16., -8.]]
initial_xy = [-4., 8.]
expected_x = matrix([[15.993335554815062], [-7.9946684438520501], [49.983338887037647], [-39.986671109630123]])
# ACT
x, P = task.calculate(measurements, initial_xy)
# ASSERT
self.assertArrayAlmostEquals(expected_x.value, x.value)
def test_dataset2(self):
# ARRANGE
measurements = [[1., 4.], [6., 0.], [11., -4.], [16., -8.]]
initial_xy = [-4., 8.]
expected_x = matrix([[15.993335554815062], [-7.9946684438520501],
[49.983338887037647], [-39.986671109630123]])
# ACT
x, P = task.calculate(measurements, initial_xy)
# ASSERT
self.assertArrayAlmostEquals(expected_x.value, x.value)
def test_dataset4(self):
# ARRANGE
measurements = [[2., 17.], [0., 15.], [2., 13.], [0., 11.]]
initial_xy = [1., 19.]
expected_x = matrix([[0.73342219260246477], [11.002665778073975], [-0.66644451849384057], [-19.993335554815054]])
expected_P = matrix([[0.053315561479506911, 0.0, 0.13328890369876803, 0.0], [0.0, 0.053315561479506911, 0.0, 0.13328890369876803], [0.13328890369876789, 0.0, 0.33322225924692717, 0.0], [0.0, 0.13328890369876789, 0.0, 0.333222259246027171]])
# ACT
x, P = task.calculate(measurements, initial_xy)
# ASSERT
self.assertArrayAlmostEquals(expected_x.value, x.value)
self.assertArrayAlmostEquals(expected_P.value, P.value)
def test_dataset1(self):
# ARRANGE
measurements = [[5., 10.], [6., 8.], [7., 6.], [8., 4.], [9., 2.], [10., 0.]]
initial_xy = [4., 12.]
expected_x = matrix([[9.9993407317877168],[0.001318536424568617],[9.9989012196461928],[-19.997802439292386]])
expected_P = matrix([[0.039556092737061982, 0.0, 0.06592682122843721, 0.0], [0.0, 0.039556092737061982, 0.0, 0.06592682122843721], [0.065926821228437182, 0.0, 0.10987803538073201, 0.0], [0.0, 0.065926821228437182, 0.0, 0.10987803538073201]])
# ACT
x, P = task.calculate(measurements, initial_xy)
# ASSERT
self.assertArrayAlmostEquals(expected_x.value, x.value)
self.assertArrayAlmostEquals(expected_P.value, P.value)
def test_dataset2(self):
# ARRANGE
expected_result = [[0, 0, 0], [0, 0.5, 0.5], [0, 0, 0]]
task.colors = [['green', 'green', 'green'], ['green', 'red', 'red'],
['green', 'green', 'green']]
task.measurements = ['red']
task.motions = [[0, 0]]
task.sensor_right = 1.0
task.p_move = 1.0
# ACT
actual_result = task.calculate()
# ASSERT
self.assertArrayAlmostEquals(expected_result, actual_result)
def test_dataset3(self):
# ARRANGE
expected_result=[[0.06666,0.06666, 0.06666],[0.06666,0.26666,0.26666],[0.06666,0.06666,0.06666]]
task.colors = [['green','green','green'],
['green','red','red'],
['green','green','green']]
task.measurements=['red']
task.motions=[[0,0]]
task.sensor_right=0.8
task.p_move=1.0
# ACT
p = task.calculate()
# ASSERT
self.assertArrayAlmostEquals(expected_result, p, 4)
def test_dataset6(self):
# ARRANGE
expected_result = [[0.02898, 0.02898, 0.02898],
[0.07246, 0.28985, 0.46376],
[0.02898, 0.02898, 0.02898]]
task.colors = [['green', 'green', 'green'], ['green', 'red', 'red'],
['green', 'green', 'green']]
task.measurements = ['red', 'red']
task.motions = [[0, 0], [0, 1]]
task.sensor_right = 0.8
task.p_move = 0.5
# ACT
actual_result = task.calculate()
# ASSERT
self.assertArrayAlmostEquals(expected_result, actual_result, 4)
def test_dataset4(self):
# ARRANGE
measurements = [[2., 17.], [0., 15.], [2., 13.], [0., 11.]]
initial_xy = [1., 19.]
expected_x = matrix([[0.73342219260246477], [11.002665778073975],
[-0.66644451849384057], [-19.993335554815054]])
expected_P = matrix(
[[0.053315561479506911, 0.0, 0.13328890369876803, 0.0],
[0.0, 0.053315561479506911, 0.0, 0.13328890369876803],
[0.13328890369876789, 0.0, 0.33322225924692717, 0.0],
[0.0, 0.13328890369876789, 0.0, 0.333222259246027171]])
# ACT
x, P = task.calculate(measurements, initial_xy)
# ASSERT
self.assertArrayAlmostEquals(expected_x.value, x.value)
self.assertArrayAlmostEquals(expected_P.value, P.value)
def test_dataset1(self):
# ARRANGE
measurements = [[5., 10.], [6., 8.], [7., 6.], [8., 4.], [9., 2.],
[10., 0.]]
initial_xy = [4., 12.]
expected_x = matrix([[9.9993407317877168], [0.001318536424568617],
[9.9989012196461928], [-19.997802439292386]])
expected_P = matrix(
[[0.039556092737061982, 0.0, 0.06592682122843721, 0.0],
[0.0, 0.039556092737061982, 0.0, 0.06592682122843721],
[0.065926821228437182, 0.0, 0.10987803538073201, 0.0],
[0.0, 0.065926821228437182, 0.0, 0.10987803538073201]])
# ACT
x, P = task.calculate(measurements, initial_xy)
# ASSERT
self.assertArrayAlmostEquals(expected_x.value, x.value)
self.assertArrayAlmostEquals(expected_P.value, P.value)
def test_dataset4(self):
# ARRANGE
expected_result = [[0.03333, 0.03333, 0.03333],
[0.13333, 0.13333, 0.53333],
[0.03333, 0.03333, 0.03333]]
task.colors = [['green', 'green', 'green'],
['green', 'red', 'red'],
['green', 'green', 'green']]
task.measurements = ['red', 'red']
task.motions = [[0, 0], [0, 1]]
task.sensor_right = 0.8
task.p_move = 1.0
# ACT
actual_result = task.calculate()
# ASSERT
self.assertArrayAlmostEquals(expected_result, actual_result, 4)
def test_dataset6(self):
# ARRANGE
expected_result = [[0.02898, 0.02898, 0.02898],
[0.07246, 0.28985, 0.46376],
[0.02898, 0.02898, 0.02898]]
task.colors = [['green', 'green', 'green'],
['green', 'red', 'red'],
['green', 'green', 'green']]
task.measurements = ['red', 'red']
task.motions = [[0, 0], [0, 1]]
task.sensor_right = 0.8
task.p_move = 0.5
# ACT
actual_result = task.calculate()
# ASSERT
self.assertArrayAlmostEquals(expected_result, actual_result, 4)
def test_dataset8(self):
# ARRANGE
expected_result = [[0.01105, 0.02464, 0.06799, 0.04472, 0.024651],
[0.00715, 0.01017, 0.08696, 0.07988, 0.00935],
[0.00739, 0.00894, 0.11272, 0.35350, 0.04065],
[0.00910, 0.00715, 0.01434, 0.04313, 0.03642]]
task.colors = [['red', 'green', 'green', 'red', 'red'],
['red', 'red', 'green', 'red', 'red'],
['red', 'red', 'green', 'green', 'red'],
['red', 'red', 'red', 'red', 'red']]
task.measurements = ['green', 'green', 'green', 'green', 'green']
task.motions = [[0, 0], [0, 1], [1, 0], [1, 0], [0, 1]]
task.sensor_right = 0.7
task.p_move = 0.8
# ACT
actual_result = task.calculate()
# ASSERT
self.assertArrayAlmostEquals(expected_result, actual_result, 4)
def test_dataset8(self):
# ARRANGE
expected_result = [[0.01105, 0.02464, 0.06799, 0.04472, 0.024651],
[0.00715, 0.01017, 0.08696, 0.07988, 0.00935],
[0.00739, 0.00894, 0.11272, 0.35350, 0.04065],
[0.00910, 0.00715, 0.01434, 0.04313, 0.03642]]
task.colors = [['red', 'green', 'green', 'red','red'],
['red', 'red', 'green', 'red', 'red'],
['red', 'red', 'green', 'green', 'red'],
['red', 'red', 'red', 'red', 'red']]
task.measurements = ['green', 'green', 'green', 'green', 'green']
task.motions = [[0, 0], [0, 1], [1, 0], [1, 0], [0, 1]]
task.sensor_right = 0.7
task.p_move = 0.8
# ACT
actual_result = task.calculate()
# ASSERT
self.assertArrayAlmostEquals(expected_result, actual_result, 4)
