def test_list_double_index(self):
key = 'asdf'
value = np.array([[0, 1], [2, 3]])
db = GodMap()
db.set_data([key], value)
for i in range(value.shape[0]):
for j in range(value.shape[1]):
self.assertEqual(db.get_data([key, i, j]), value[i, j])
def test_god_map_with_world(self):
gm = GodMap()
w = World()
r = WorldObject(pr2_urdf())
w.add_robot(r, PoseStamped(), [], 0, KeyDefaultDict(lambda key: 0),
False)
gm.safe_set_data([u'world'], w)
assert r == gm.safe_get_data([u'world', u'robot'])
def test_class3(self, class_names):
db = GodMap()
for i, name in enumerate(class_names):
c = type(str(name), (object,), {})()
db.set_data(class_names[:i + 1], c)
for i, name in enumerate(class_names):
c = db.get_data(class_names[:i + 1])
self.assertEqual(type(c).__name__, name)
def test_function4(self, key1, key2, key3, key4, key5):
db = GodMap()
class MUH(object):
def __call__(self, next_member, next_next_member):
return [key5]
a = MUH()
d = {key2: a}
db.safe_set_data([key1], d)
self.assertEqual(key5, db.safe_get_data([key1, key2, (key3, key4), 0]))
def test_function2(self, key, dict_key, return_value):
db = GodMap()
class MUH(object):
def __call__(self, god_map):
return return_value
a = MUH()
d = {dict_key: a}
db.set_data([key], d)
self.assertEqual(db.get_data([key, dict_key]), return_value)
def test_function_no_param(self, key1, key2, key3):
db = GodMap()
class MUH(object):
def __call__(self):
return [key3]
a = MUH()
d = {key2: a}
db.set_data([key1], d)
self.assertEqual(key3, db.get_data([key1, key2, tuple(), 0]))
def test_clear_cache(self):
db = GodMap()
d = {'b': 'c'}
db.set_data(['a'], d)
self.assertEqual('c', db.get_data(['a', 'b']))
db.clear_cache()
class C(object):
b = 'c'
db.set_data(['a'], C())
self.assertEqual('c', db.get_data(['a', 'b']))
def test_function_2param_call(self, key1, key2, key3, key4):
db = GodMap()
class MUH(object):
def __call__(self, next_member, next_next_member):
return next_next_member
a = MUH()
d = {key2: a}
db.set_data([key1], d)
self.assertEqual(db.get_data([key1, key2, (key3, key4)]), key4)
def test_god_map_with_world(self):
gm = GodMap()
w = World()
r = WorldObject(pr2_urdf())
w.add_robot(robot=r,
base_pose=PoseStamped(),
controlled_joints=[],
ignored_pairs=set(),
added_pairs=set())
gm.set_data([u'world'], w)
gm_robot = gm.get_data(identifier.robot)
assert 'pr2' == gm_robot.get_name()
def test_frame_input(self, translation_prefix, translation_suffix, rotation_prefix, rotation_suffix,
x, y, z, qx, qy, qz, qw):
gm = GodMap()
input = FrameInput(gm.to_symbol, translation_prefix, translation_suffix, rotation_prefix, rotation_suffix,
x, y, z, qx, qy, qz, qw)
x_symbol = str(input.x)
y_symbol = str(input.y)
z_symbol = str(input.z)
qx_symbol = str(input.qx)
qy_symbol = str(input.qy)
qz_symbol = str(input.qz)
qw_symbol = str(input.qw)
for e in chain(x, translation_prefix, translation_suffix):
self.assertTrue(e in x_symbol)
for e in chain(y, translation_prefix, translation_suffix):
self.assertTrue(e in y_symbol)
for e in chain(z, translation_prefix, translation_suffix):
self.assertTrue(e in z_symbol)
for e in chain(qx, rotation_prefix, rotation_suffix):
self.assertTrue(e in qx_symbol)
for e in chain(qy, rotation_prefix, rotation_suffix):
self.assertTrue(e in qy_symbol)
for e in chain(qz, rotation_prefix, rotation_suffix):
self.assertTrue(e in qz_symbol)
for e in chain(qw, rotation_prefix, rotation_suffix):
self.assertTrue(e in qw_symbol)
def test_list_overwrite_entry(self, key, lists):
first_values, second_values = lists
db = GodMap()
db.set_data([key], first_values)
for i, v in enumerate(first_values):
self.assertEqual(db.get_data([key, i]), v)
db.set_data([key, i], second_values[i])
for i, v in enumerate(second_values):
self.assertEqual(db.get_data([key, i]), v)
def test_get_symbol_map(self, keys_values):
keys, values = keys_values
gm = GodMap()
for key, value in zip(keys, values):
gm.set_data([key], value)
gm.to_symbol([key])
self.assertEqual(len(gm.get_values(keys)), len(keys))
def test_god_map_with_world(self):
gm = GodMap()
w = World()
r = WorldObject(pr2_urdf())
w.add_robot(robot=r,
base_pose=PoseStamped(),
controlled_joints=[],
joint_vel_limit=KeyDefaultDict(lambda key: 0),
joint_acc_limit=KeyDefaultDict(lambda key: 0),
joint_weights=KeyDefaultDict(lambda key: 0),
calc_self_collision_matrix=False,
ignored_pairs=set(),
added_pairs=set(),
symengine_backend='llvm',
symengine_opt_level=0)
gm.safe_set_data([u'world'], w)
gm_robot = gm.safe_get_data(identifier.robot)
assert 'pr2' == gm_robot.get_name()
def test_dict2(self, key, key_values):
d = {}
db = GodMap()
db.set_data([key], d)
for k, v in zip(*key_values):
db.set_data([key, k], v)
for k, v in zip(*key_values):
self.assertEqual(db.get_data([key, k]), v)
def __init__(self, initial_state=None):
"""Initializes the process manager.
Arguments:
initial_state -- An initial god map for this process manager
"""
self._plugins = OrderedDict()
self._god_map = GodMap() if initial_state is None else copy(
initial_state)
self.original_universe = initial_state is None
def test_joint_states_input(self, joint_names, prefix, suffix):
gm = GodMap()
js_input = JointStatesInput(gm.to_symbol, joint_names, prefix, suffix)
for i, (joint_name, joint_symbol) in enumerate(js_input.joint_map.items()):
self.assertTrue(joint_name in joint_names)
symbol_str = str(joint_symbol)
for e in prefix:
self.assertTrue(e in symbol_str)
for e in suffix:
self.assertTrue(e in symbol_str)
def test_vector3_input(self, x, y, z, prefix, suffix):
gm = GodMap()
input = Vector3Input(gm.to_symbol, prefix, suffix, x, y, z)
x_symbol = str(input.x)
y_symbol = str(input.y)
z_symbol = str(input.z)
for e in chain(x, prefix, suffix):
self.assertTrue(e in x_symbol)
for e in chain(y, prefix, suffix):
self.assertTrue(e in y_symbol)
for e in chain(z, prefix, suffix):
self.assertTrue(e in z_symbol)
def test_class1(self, key, class_name, key_values):
c = type(str(class_name), (object,), {})()
for k, v in zip(*key_values):
setattr(c, k, None)
db = GodMap()
db.set_data([key], c)
for k, v in zip(*key_values):
self.assertEqual(db.get_data([key, k]), None)
for k, v in zip(*key_values):
db.set_data([key, k], v)
for k, v in zip(*key_values):
self.assertEqual(db.get_data([key, k]), v)
def test_function3(self, key1, key2, key3, key4, key5):
db = GodMap()
class MUH(object):
def __call__(self, next_member):
return [key5]
a = MUH()
d = {key2: a}
db.set_data([key1], d)
try:
db.get_data([key1, key2, (key3, key4), 0])
assert False
except TypeError:
assert True
def test_namedtuple1(self):
Frame = namedtuple(u'Frame', [u'pos'])
db = GodMap()
db.set_data([u'f12'], Frame(pos=2))
with self.assertRaises(AttributeError):
db.set_data([u'f12', u'pos'], 42)
def test_namedtuple(self, key, tuple_name, key_values):
Frame = namedtuple(tuple_name, key_values[0])
db = GodMap()
db.set_data([key], Frame(*key_values[1]))
for k, v in zip(*key_values):
self.assertEqual(db.get_data([key, k]), v)
def test_set_get_float(self, key, number):
db = GodMap()
db.set_data([key], number)
db.set_data([key], number)
self.assertEqual(db.get_data([key]), number)
def test_set_get_integer2(self, key, number):
db = GodMap()
db.set_data([key], number)
self.assertEqual(db.get_data([key]), number, msg=u'key={}, number={}'.format(key, number))
self.assertEqual(db.get_data([key]), number, msg=u'key={}, number={}'.format(key, number))
def test_list_negative_index(self, key, l):
db = GodMap()
db.set_data([key], l)
for i in range(len(l)):
self.assertEqual(db.get_data([key, -i]), l[-i])
def test_dict3(self, key, tuple_key, value):
tuple_key = tuple(tuple_key)
d = {tuple_key: value}
db = GodMap()
db.set_data([key], d)
self.assertEqual(db.get_data([key, tuple_key]), value)
def test_god_map_key_error(self, key, wrong_key, number, default_value):
assume(key != wrong_key)
db = GodMap(default_value)
db.set_data([key], number)
self.assertEqual(db.get_data([wrong_key]), default_value, msg=u'key={}, number={}'.format(key, number))
def test_tuple1(self, key, value):
value = tuple(value)
db = GodMap()
db.set_data([key], value)
for i, v in enumerate(value):
self.assertEqual(db.get_data([key, i]), v)
def test_to_symbol(self, key, value):
gm = GodMap()
gm.set_data([key], value)
self.assertTrue(w.is_symbol(gm.to_symbol([key])))
self.assertTrue(key in str(gm.to_symbol([key])))
def test_function_1param_lambda(self, key, key2):
db = GodMap()
f = lambda x: x
db.set_data([key], f)
self.assertEqual(db.get_data([key, (key2,)]), key2)
def test_list_index_error(self, key, l):
db = GodMap()
db.set_data([key], l)
with self.assertRaises(IndexError):
db.set_data([key, len(l) + 1], 0)
