def test_parameters(self):
# initialize Params
p = ParameterServer() # TODO: this has to be the ParameterServer
# set new parameter
self.assertTrue(p["LetsTest"]["hierarchy", "bla", True])
# check whether right value is recovered
tester = p["Car"]["Length", "Car Length", 6]
tester2 = p["Car"]["Length", "Car Length", 8]
self.assertEqual(tester, 6)
self.assertEqual(
tester2,
6) # value should not change, since key already exists in dict
# check whether access without description and default value is possible
self.assertEqual(p["Car"]["Length"], 6)
# check whether setting values works
p["Age"] = 24
self.assertEqual(p["Age"], 24)
p["Localization"]["Number of Particles"] = 2000
self.assertEqual(p["Localization"]["Number of Particles"], 2000)
# C++ Test in /modules/commons/Params/params_test.h
# write in parameters in C++ and check whether they can be accessed in python afterwards
#ParamsTest(p)
#self.assertEqual(p["param_cpp"], 16.5)
# add child in python
child = p.AddChild("ch")
self.assertTrue(child["ChildTest"]["hierarchy", "bla", True])
# write parameters to json file
p.Save("written_a_param_test.json")
def test_write_params_agent(self):
params = ParameterServer()
behavior = BehaviorConstantVelocity(params)
execution = ExecutionModelInterpolate(params)
dynamic = SingleTrackModel(params)
shape = Polygon2d([1.25, 1, 0], [
Point2d(0, 0),
Point2d(0, 2),
Point2d(4, 2),
Point2d(4, 0),
Point2d(0, 0)
])
init_state = np.zeros(4)
agent = Agent(init_state, behavior, dynamic, execution, shape,
params.AddChild("agent"))
params.Save("written_agents_param_test.json")
def test_configurable_scenario_generation_default_params(self):
params = ParameterServer()
scenario_generation = ConfigurableScenarioGeneration(num_scenarios=2,
params=params)
scenario_generation.dump_scenario_list("test.scenario")
scenario_loader = ScenarioGeneration()
scenario_loader.load_scenario_list("test.scenario")
self.assertEqual(len(scenario_loader._scenario_list), 2)
self.assertEqual(
len(scenario_loader._scenario_list[0]._agent_list),
len(scenario_generation._scenario_list[0]._agent_list))
scenario = scenario_loader.get_scenario(idx=0)
params.Save("default_params.json")
def test_configurable_scenario_generation_sample_behavior_types(self):
sink_source_dict = [{
"SourceSink": [[5111.626, 5006.8305], [5110.789, 5193.1725]],
"Description":
"left_lane",
"ConfigAgentStatesGeometries": {
"Type": "UniformVehicleDistribution",
"LanePositions": [0]
},
"ConfigBehaviorModels": {
"Type": "FixedBehaviorType",
"ModelType": "BehaviorIDMClassic",
"ModelParams": {
"BehaviorIDMClassic::MaxVelocity": 60.0
}
},
"ConfigExecutionModels": {
"Type": "FixedExecutionType"
},
"ConfigDynamicModels": {
"Type": "FixedDynamicType"
},
"ConfigGoalDefinitions": {
"Type": "FixedGoalTypes"
},
"ConfigControlledAgents": {
"Type": "NoneControlled"
},
"AgentParams": {}
}, {
"SourceSink": [[5111.626, 5006.8305], [5110.789, 5193.1725]],
"Description":
"right_lane",
"ConfigAgentStatesGeometries": {
"Type": "UniformVehicleDistribution",
"LanePositions": [1]
},
"ConfigBehaviorModels": {
"Type": "SampleBehaviorType"
},
"ConfigExecutionModels": {
"Type": "FixedExecutionType"
},
"ConfigDynamicModels": {
"Type": "FixedDynamicType"
},
"ConfigGoalDefinitions": {
"Type": "FixedGoalTypes"
},
"ConfigControlledAgents": {
"Type": "RandomSingleAgent"
},
"AgentParams": {}
}]
params = ParameterServer()
params["Scenario"]["Generation"]["ConfigurableScenarioGeneration"][
"SinksSources"] = sink_source_dict
scenario_generation = ConfigurableScenarioGeneration(num_scenarios=2,
params=params)
scenario_generation.dump_scenario_list("test.scenario")
params.Save("default_params_behavior_type_sampling.json")