/
ekf_unittests.py
163 lines (141 loc) · 6.04 KB
/
ekf_unittests.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
'''This is the unit test file for the slam.py file.'''
import unittest
import numpy as np
from math import radians, sin, cos
from ekf import EKF
class TestEKF(unittest.TestCase):
def setUp(self):
self.empty_ekf = EKF(ekf_landmark_threshold=0)
def tearDown(self):
del self.empty_ekf
def test_init(self):
self.assertIsInstance(self.empty_ekf, EKF)
self.assertEqual(self.empty_ekf.landmark_types, [])
self.assertEqual(self.empty_ekf.landmark_counts, [])
np.testing.assert_array_equal(
self.empty_ekf.system_state,
np.array([[0], [0], [0]]))
np.testing.assert_array_equal(
self.empty_ekf.covariance,
np.array([[0.95, 0, 0],
[0, 0.95, 0],
[0, 0, 0.95]]))
def test_noop_move(self):
# Run the move function, but without actually moving.
self.empty_ekf.update(radians(0), 0, [])
np.testing.assert_array_equal(
self.empty_ekf.pos(),
np.array([[0], [0], [0]]))
np.testing.assert_array_equal(
self.empty_ekf.covariance,
np.array([[0.95, 0, 0],
[0, 0.95, 0],
[0, 0, 0.95]]))
def test_simple_move(self):
# Turn left 30 degrees and advance 10 units of distance.
self.empty_ekf.update(radians(30), 10, [])
np.testing.assert_almost_equal(
self.empty_ekf.pos(),
np.array([[8.66025404], [5], [0.52359878]]))
np.testing.assert_almost_equal(
self.empty_ekf.covariance,
np.array([[75.95, -38.9711432, -8.0005164],
[-38.9711432, 25.95, 4.8808997],
[-8.0005164, 4.8808997, 0.9637078]]))
def test_linear_move_and_observe(self):
# Add a landmark at the start.
self.empty_ekf.update(radians(0), 0, [(20, 0, 'statue')])
np.testing.assert_array_equal(
self.empty_ekf.pos(),
np.array([[0], [0], [0]]))
np.testing.assert_array_equal(
self.empty_ekf.system_state,
np.array([[0], [0], [0], [20], [0]]))
np.testing.assert_array_equal(
self.empty_ekf.covariance,
np.array([[0.95, 0, 0, 0.95, 0],
[0, 0.95, 0, 0, 0.95],
[0, 0, 0.95, 0, 0],
[0.95, 0, 0, 1.15, 0],
[0, 0.95, 0, 0, 0.95]]))
# Move 5 units, but imply some error by landmark drift.
self.empty_ekf.update(radians(0), 5, [(19, 0, 'statue')])
np.testing.assert_almost_equal(
self.empty_ekf.pos(),
np.array([[5.8274554], [0], [-0.042244909]]))
np.testing.assert_almost_equal(
self.empty_ekf.system_state,
np.array([[5.8274554], [0], [-0.042244909], [19.9014031], [0]]))
np.testing.assert_almost_equal(
self.empty_ekf.covariance,
np.array([[25.95, 0, -4.75, 0.95, 0],
[0, 0.95, 0, 0, 0.95],
[-4.75, 0, 0.95, 0, 0],
[0.95, 0, 0, 1.15, 0],
[0, 0.95, 0, 0, 0.95]]))
def test_rotate_and_observe(self):
# Add a landmark at the start.
self.empty_ekf.update(radians(0), 0, [(20, 0, 'statue')])
np.testing.assert_array_equal(
self.empty_ekf.pos(),
np.array([[0], [0], [0]]))
np.testing.assert_array_equal(
self.empty_ekf.system_state,
np.array([[0], [0], [0], [20], [0]]))
np.testing.assert_array_equal(
self.empty_ekf.covariance,
np.array([[0.95, 0, 0, 0.95, 0],
[0, 0.95, 0, 0, 0.95],
[0, 0, 0.95, 0, 0],
[0.95, 0, 0, 1.15, 0],
[0, 0.95, 0, 0, 0.95]]))
# Turn 30 degrees, but imply some error by landmark drift.
self.empty_ekf.update(radians(30), 0, [(20 * cos(radians(-2)), 20 * sin(radians(-2)), 'statue')])
np.testing.assert_almost_equal(
self.empty_ekf.pos(),
np.array([[0], [0], [0.55788443]]))
np.testing.assert_almost_equal(
self.empty_ekf.system_state,
np.array([[0], [0], [0.55788443], [20], [0]]))
np.testing.assert_almost_equal(
self.empty_ekf.covariance,
np.array([[0.95, 0, 0, 0.95, 0],
[0, 0.95, 0, 0, 0.95],
[0, 0, 0.9637078, 0, 0],
[0.95, 0, 0, 1.15, 0],
[0, 0.95, 0, 0, 0.95]]))
def test_add_two_landmarks(self):
# Add first landmark.
self.empty_ekf.update(radians(0), 0, [(20, 0, 'statue')])
np.testing.assert_array_equal(
self.empty_ekf.pos(),
np.array([[0], [0], [0]]))
np.testing.assert_array_equal(
self.empty_ekf.system_state,
np.array([[0], [0], [0], [20], [0]]))
np.testing.assert_array_equal(
self.empty_ekf.covariance,
np.array([[0.95, 0, 0, 0.95, 0],
[0, 0.95, 0, 0, 0.95],
[0, 0, 0.95, 0, 0],
[0.95, 0, 0, 1.15, 0],
[0, 0.95, 0, 0, 0.95]]))
# Add second landmark.
self.empty_ekf.update(radians(0), 0, [(0, 20, 'fountain')])
np.testing.assert_array_equal(
self.empty_ekf.pos(),
np.array([[0], [0], [0]]))
np.testing.assert_array_equal(
self.empty_ekf.system_state,
np.array([[0], [0], [0], [20], [0], [0], [20]]))
np.testing.assert_array_equal(
self.empty_ekf.covariance,
np.array([[0.95, 0, 0, 0.95, 0, 0.95, 0],
[0, 0.95, 0, 0, 0.95, 0, 0.95],
[0, 0, 0.95, 0, 0, 0, 0],
[0.95, 0, 0, 1.15, 0, 0.95, 0],
[0, 0.95, 0, 0, 0.95, 0, 0.95],
[0.95, 0, 0, 0.95, 0, 1.15, 0],
[0, 0.95, 0, 0, 0.95, 0, 0.95]]))
if __name__ == '__main__':
unittest.main()