def test_readings_for_obstacles_regression_1():
"""
Regression test for bug before normalize_radians().
"""
a = 0.299541
b = 0.0500507
laser_angles = lasers.default_laser_angles()
laser_max_range = lasers.default_laser_max_range()
obstacles = np.array([
[-4.475, 1.45, 0.35],
[-1.3, 1.025, 0.35],
[-3., -1.55, 0.35],
[0.65, -1.95, 0.35],
[-1.95, -3.8, 0.35],
[0.15, -5.625, 0.35]])
x = 0.18361848856646254
y = -4.2881577071112806
theta = -2.2011317013010205
lx, ly, ltheta = lasers.car_loc_to_laser_loc(x, y, theta, a, b)
obs_lasers = fast.readings_for_obstacles(
lx, ly, ltheta, laser_angles, laser_max_range, obstacles)
# For debugging when the test fails:
if False:
for i, val in enumerate(obs_lasers):
print i, val
lasers.plot_lasers(
lx, ly, ltheta, laser_angles, laser_max_range,
obstacles, obs_lasers, plt.gca())
plt.show()
nose.tools.assert_almost_equals(obs_lasers[16], 1.89867472652, 10)
nose.tools.assert_almost_equals(obs_lasers[85], 10.0, 10)
nose.tools.assert_almost_equals(obs_lasers[278], 0.739595449593, 10)
def logweigh_particle(self, particle):
logweight = 0.0
if self.dataset.ts2sensor[self.current_ts] == 'laser':
laser_x, laser_y, laser_theta = lasers.car_loc_to_laser_loc(
particle.x, particle.y, particle.theta,
self.dataset.a, self.dataset.b)
true_lasers = readings_for_obstacles(
laser_x, laser_y, laser_theta,
self.laser_angles, self.laser_max_range,
particle.obstacles)
obs_lasers = np.array(self.dataset.ts2laser[self.current_ts])
logweight = norm_log_pdf_id_cov(
obs_lasers, true_lasers, self.obs_cov_scale)
return logweight
def test_readings_for_obstacles_old_new():
laser_angles = lasers.default_laser_angles()
laser_max_range = lasers.default_laser_max_range()
obstacles = np.array([
[-4.475, 1.45, 0.4],
[-1.3, 1.025, 0.4],
[-3.0, -1.55, 0.4],
[0.65, -1.95, 0.4],
[-1.95, -3.8, 0.4],
[0.15, -5.625, 0.4]
])
lx = -6.1039
ly = -0.0499926
for ltheta in np.arange(-np.pi, np.pi, 0.1):
print ltheta
readings_1 = lasers.readings_for_obstacles_old(
lx, ly, ltheta, laser_angles, laser_max_range, obstacles)
readings_2 = fast.readings_for_obstacles(
lx, ly, ltheta, laser_angles, laser_max_range, obstacles)
nose.tools.assert_true(np.sum(np.abs(readings_1 - readings_2)) < 1e-6)
def test_readings_for_obstacles_regression_2():
"""
Regression test for assertion failure in fast_lasers.c.
"""
lx, ly, ltheta = -5.8043534, -2.562654, -0.000112593
laser_angles = lasers.default_laser_angles()
laser_max_range = lasers.default_laser_max_range()
obstacles = np.array([
[4.6, -3.4, 0.68],
])
obs_lasers = fast.readings_for_obstacles(
lx, ly, ltheta, laser_angles, laser_max_range, obstacles)
# For debugging when the test fails:
if False:
for i, val in enumerate(obs_lasers):
print i, val
lasers.plot_lasers(
lx, ly, ltheta, laser_angles, laser_max_range,
obstacles, obs_lasers, plt.gca())
plt.show()
nose.tools.assert_almost_equals(obs_lasers[170], 9.761751166778446, 10)
def readings_for_obstacles_new():
return fast.readings_for_obstacles(
true_x, true_y, true_theta,
laser_angles, laser_max_range,
obstacles)
