def testPickling(self):
""" Testing that we can render() even after a pickling """
raytracer = Rangefinder(min_num_aux=1)
raytracer.set_map(example_world)
raytracer.add_photoreceptors(linspace(-deg2rad(170), deg2rad(170), 180),
spatial_sigma=deg2rad(0.5), sigma=0.01)
raytracer.render(RigidBodyState())
raytracer2 = make_sure_pickable(raytracer)
raytracer2.render(RigidBodyState())
make_sure_pickable(raytracer2)
def setUp(self):
self.raytracer = Rangefinder()
self.example_world = {
"class": "map",
"objects": [
{
"class": "polyline", "surface": 0,
"points": [ [-1, -1], [-1, 1], [1, 1], [1, -1], [-1, -1] ],
"texture": "lambda x: sign(sin(x))"
},
{
"class": "circle", "surface": 1, "radius": 10, "center": [0, 0], "texture": "lambda x: 0",
"solid_inside": 0
}
]
}
self.raytracer.set_map(self.example_world)
def try_with(self, center, radius, position, orientation):
world = {
"class": "map",
"objects": [
{
"class": "circle", "surface": 1, "radius": radius, "center": center, "texture": "lambda x: 0",
"solid_inside": 0
}
]
}
raytracer = Rangefinder(min_num_aux=1)
raytracer.set_map(world)
raytracer.add_photoreceptors(linspace(-deg2rad(170), deg2rad(170), 180),
spatial_sigma=deg2rad(0.5), sigma=0.01)
rbs = RigidBodyState(position, orientation)
data = raytracer.render(rbs)
# given min_num_aux and spatial_sigma < 1, we expect
# only one aux ray per photoreceptors
for indices in raytracer.aux_indices:
self.assertEqual(len(indices), 1)
# The direction should remain the same
for i in range(len(raytracer.directions)):
j = raytracer.aux_indices[i][0]
self.assertEqual(i, j)
self.assertEqual(rad2deg(raytracer.directions[i]),
rad2deg(raytracer.aux_directions[j]))
# If we are inside the circle, then everything should be valid
if linalg.norm(array(position) - array(center)) < radius:
for valid in data['valid']:
self.assertEqual(valid, 1)
phi_world = numpy.array(raytracer.directions) + orientation
rho = numpy.array(data['readings'])
points = vstack([ cos(phi_world) * rho, sin(phi_world) * rho ])
center_world = array(center) - array(position)
for i in range(points.shape[1]):
if not data['valid'][i]:
continue
distance_to_center = linalg.norm(points[:, i] - center_world)
self.assertAlmostEqual(distance_to_center, radius, 5)
class ExampleCircle(unittest.TestCase):
def try_with(self, center, radius, position, orientation):
world = {
"class": "map",
"objects": [
{
"class": "circle", "surface": 1, "radius": radius, "center": center, "texture": "lambda x: 0",
"solid_inside": 0
}
]
}
raytracer = Rangefinder(min_num_aux=1)
raytracer.set_map(world)
raytracer.add_photoreceptors(linspace(-deg2rad(170), deg2rad(170), 180),
spatial_sigma=deg2rad(0.5), sigma=0.01)
rbs = RigidBodyState(position, orientation)
data = raytracer.render(rbs)
# given min_num_aux and spatial_sigma < 1, we expect
# only one aux ray per photoreceptors
for indices in raytracer.aux_indices:
self.assertEqual(len(indices), 1)
# The direction should remain the same
for i in range(len(raytracer.directions)):
j = raytracer.aux_indices[i][0]
self.assertEqual(i, j)
self.assertEqual(rad2deg(raytracer.directions[i]),
rad2deg(raytracer.aux_directions[j]))
# If we are inside the circle, then everything should be valid
if linalg.norm(array(position) - array(center)) < radius:
for valid in data['valid']:
self.assertEqual(valid, 1)
phi_world = numpy.array(raytracer.directions) + orientation
rho = numpy.array(data['readings'])
points = vstack([ cos(phi_world) * rho, sin(phi_world) * rho ])
center_world = array(center) - array(position)
for i in range(points.shape[1]):
if not data['valid'][i]:
continue
distance_to_center = linalg.norm(points[:, i] - center_world)
self.assertAlmostEqual(distance_to_center, radius, 5)
def testCircleRaytracing(self):
""" Testing circle raytracing """
self.try_with(center=[10, 10], radius=10, position=[15, 10], orientation=20)
self.try_with(center=[10, 10], radius=10, position=[25, 10], orientation=0)
def testLineRaytracing(self):
""" Testing segments raytracing """
# TODO: write this test
pass
def setUp(self):
self.raytracer = Rangefinder()
self.example_world = {
"class": "map",
"objects": [
{
"class": "polyline", "surface": 0,
"points": [ [-1, -1], [-1, 1], [1, 1], [1, -1], [-1, -1] ],
"texture": "lambda x: sign(sin(x))"
},
{
"class": "circle", "surface": 1, "radius": 10, "center": [0, 0], "texture": "lambda x: 0",
"solid_inside": 0
}
]
}
self.raytracer.set_map(self.example_world)
def testInitSensor(self):
""" Make sure that there is an expection if photoreceptors not defined """
raytracer = Rangefinder()
raytracer.set_map(example_world)
self.assertRaises(BVException, raytracer.render, RigidBodyState())
def testInitWorld(self):
""" Make sure that there is an expection if world not passed """
raytracer = Rangefinder()
raytracer.add_photoreceptors([0], 0.01, 0.01)
self.assertRaises(BVException, raytracer.render, RigidBodyState())
def testWorldGeneration(self):
""" Testing if we can parse the output of world generation utils """
sensor = Rangefinder()
sensor.set_map(create_random_world(10))
