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 readings_for_obstacles_old(): return lasers.readings_for_obstacles_old( true_x, true_y, true_theta, laser_angles, laser_max_range, obstacles)