def testIntegrity(self):
""" Make sure that this sensor does not modify the map object """
os = self.createSimpleOlfactionSensor()
map = create_random_world(10)
map_original = deepcopy(map)
os.set_map(map)
self.assertEqual(map, map_original)
def my_world_gen():
return create_random_world(radius=10)
def testWorldGeneration(self):
""" Testing if we can parse the output of world generation utils """
sensor = Rangefinder()
sensor.set_map(create_random_world(10))
def testIntegrity(self):
""" Make sure that this sensor does not modify the map object """
map = create_random_world(10)
map_original = deepcopy(map)
self.raytracer.set_map(map)
self.assertEqual(map, map_original)
def testPickling2(self):
""" Pickling after map loading """
self.raytracer.set_map(create_random_world(10))
make_sure_pickable(self.raytracer)
from pybv.worlds import create_random_world
from pybv.sensors import ImageRangeSensor
from pybv.utils import RigidBodyState
from numpy import deg2rad, linspace, pi
from time import time
world = create_random_world(radius=10)
sensor = ImageRangeSensor(world=world)
sensor.add_photoreceptors(linspace(-pi / 2, pi / 2, 100), spatial_sigma=deg2rad(5), sigma=0.01)
sensor.add_photoreceptors(linspace(-pi / 6, pi / 6, 20), spatial_sigma=deg2rad(2), sigma=0.01)
t0 = time(); ntrials = 100
for i in range(ntrials):
rbs = RigidBodyState()
answer = sensor.render(rbs)
T = time() - t0
print answer
print "Average time:", T / ntrials
def testPickling(self):
""" Make sure that we are generating pickable structures (no lambdas) """
map = create_random_world(radius=10)
make_sure_pickable(map)
def testPickling2(self):
""" Pickling after map loading """
os = self.createSimpleOlfactionSensor()
os.set_map(create_random_world(10))
os2 = make_sure_pickable(os)
make_sure_pickable(os2)
def testRandomGeneration(self):
""" Test if we can interpret a map from create_random_world() """
world = create_random_world(10)
os = self.createSimpleOlfactionSensor()
os.set_map(world)
os.compute_observations(RigidBodyState())
