def test_aggregation_newframe(self):
"""
test aggregation_newframe method
:return:
"""
bffr = SoBuffer(aggregation={'DEFAULT': AGGREGATION.NEWFRAME})
now = rospy.Time(secs=500000)
testlist = {'robot': []}
# replaced by fourth robot1 message
msg = SoMessage(Header(None, now - rospy.Duration(10), 'robot'),
'robot1', Vector3(2.1, 2.2, 0), Quaternion(),
Vector3(), 1, 4.0, 1.0, 0.8, 5, None, False, [])
bffr.store_data(msg, now)
msg = SoMessage(Header(None, now - rospy.Duration(5), 'robot'),
'robot5', Vector3(2.1, 2.2, 0), Quaternion(),
Vector3(), 1, 4.0, 1.0, 0.8, 5, None, False, [])
bffr.store_data(msg, now)
msg = SoMessage(Header(None, now, 'robot'), 'robot3',
Vector3(2.1, 2.2, 0), Quaternion(), Vector3(), 1, 4.0,
1.0, 0.8, 5, None, False, [])
bffr.store_data(msg, now)
msg = SoMessage(Header(None, now, 'robot'), 'robot1',
Vector3(2.1, 2.2, 0), Quaternion(), Vector3(), 1, 4.0,
1.0, 0.8, 5, None, False, [])
testlist['robot'].append(msg)
bffr.store_data(msg, now)
self.assertEqual(bffr._static, testlist)
def test_morphogenesis(self):
"""
test class morphogenesis barycenter
"""
bffr = SoBuffer()
morph = MorphogenesisBarycenter(bffr, 'morphogenesis', 'dist')
bffr._moving = {
'morphogenesis': {
'robot1': [
SoMessage(None, None, Vector3(2, 2, 0), Quaternion(),
Vector3(), 1, 1.0, 1.0, 1.0, 0, None, True,
{'dist': 7.0})
],
'robto2': [
SoMessage(None, None, Vector3(1, 2, 0), Quaternion(),
Vector3(), 1, 2.0, 1.0, 1.0, 0, None, True,
{'dist': 4.0})
]
}
}
bffr._own_pos = [
SoMessage(None, None, Vector3(1, 1, 0), Quaternion(), Vector3(), 1,
1.0, 1.0, 1.0, 0, None, False, {'dist': 5.0})
]
self.assertEqual(morph.state, 'None')
self.assertEqual(morph.calc_value()[0], np.sqrt(2) + 1)
self.assertEqual(morph.calc_value()[1], 'Center')
def test_gossip(self):
"""
test class gossip max
"""
bffr = SoBuffer()
gossip = GossipMax(bffr, 'gossip', 'max')
bffr._moving = {
'gossip': {
'robot1': [
SoMessage(None, None, Vector3(2, 2, 0), Quaternion(),
Vector3(), 1, 1.0, 1.0, 1.0, 0, None, True,
{'max': 1.0})
],
'robot2': [
SoMessage(None, None, Vector3(1, 2, 0), Quaternion(),
Vector3(), 1, 2.0, 1.0, 1.0, 0, None, True,
{'max': 4.0})
],
'robot4': [
SoMessage(None, None, Vector3(5, 6, 0), Quaternion(),
Vector3(), 1, 2.0, 1.0, 1.0, 0, None, True,
{'max': 8.9})
]
}
}
bffr._own_pos = [
SoMessage(None, None, Vector3(1, 1, 0), Quaternion(), Vector3(), 1,
1.0, 1.0, 1.0, 0, None, False, {'max': '3.0'})
]
self.assertEqual(gossip.calc_value()[0], 4.0)
def test_goal_gradient(self):
"""
test goal gradient method of chemotaxisBalch Behaviour
:return:
"""
bffr = SoBuffer()
chem = ChemotaxisBalch(bffr, moving=False, static=True, maxvel=np.inf)
bffr._own_pos = [
SoMessage(None, None, Vector3(1, 2, 3), Quaternion(), Vector3(),
-1, 3.0, 0.0, 1.0, 0, None, False, [])
]
bffr._static = {
'gradient': [
SoMessage(None, None, Vector3(2, 3, 1), Quaternion(),
Vector3(), -1, 1.0, 1.0, 1.0, 0, None, False, []),
SoMessage(None, None, Vector3(2, 2, 2), Quaternion(),
Vector3(), 1, 1.0, 1.0, 1.0, 0, None, False, [])
],
'None': [
SoMessage(None, None, Vector3(0, 3, 2), Quaternion(),
Vector3(), -1, 3.0, 1.0, 10, 0, None, False, []),
SoMessage(None, None, Vector3(5, 6, 3), Quaternion(),
Vector3(), 1, 2.0, 1.0, 1.0, 0, None, False, [])
]
}
self.assertEqual(calc.vector_length(chem.goal_gradient()),
np.sqrt(2) - 1)
# no gradient within view
chem.frames = ['test']
result = chem.move()
self.assertEqual(result, None)
def test_follow_all(self):
"""
test aggregate all method
:return:
"""
bffr = SoBuffer()
chem = FollowAll(bffr, moving=False, static=True, maxvel=np.inf)
bffr._static = {
'gradient': [
SoMessage(None, None, Vector3(2, 3, 1), Quaternion(),
Vector3(), -1, 1.0, 1.0, 1.0, 0, None, False, []),
SoMessage(None, None, Vector3(2, 2, 2), Quaternion(),
Vector3(), 1, 1.0, 1.0, 1.0, 0, None, False, [])
],
'None': [
SoMessage(None, None, Vector3(0, 3, 2), Quaternion(),
Vector3(), -1, 3.0, 1.0, 1.0, 0, None, False, []),
SoMessage(None, None, Vector3(5, 6, 3), Quaternion(),
Vector3(), 1, 2.0, 1.0, 1.0, 0, None, False, [])
]
}
bffr._own_pos = [
SoMessage(None, None, Vector3(1, 2, 3), Quaternion(), Vector3(),
-1, 3.0, 0.0, 1.0, 0, None, False, [])
]
# only one frameID + repulsive gradient is not considered as outside
# view distance
chem.frames = ['gradient']
result = chem.move()
result.x = round(result.x, 2)
result.y = round(result.y, 2)
result.z = round(result.z, 2)
self.assertEqual(result, Vector3(0.29, 0.0, -0.29))
# all frameIDs - everything within view is aggregated
chem.frames = []
result = chem.move()
result.x = round(result.x, 2)
result.y = round(result.y, 2)
result.z = round(result.z, 2)
self.assertEqual(result, Vector3(0.73, -0.44, 0.14))
# noe gradient within view
chem.frames = ['test']
result = chem.move()
self.assertEqual(result, None)
bffr._static = {
'test': [
SoMessage(None, None, Vector3(2, 3, 1), Quaternion(),
Vector3(), -1, 1.0, 1.0, 1.0, 0, None, False, [])
]
}
chem.frames = ['test']
result = chem.move()
self.assertEqual(result, Vector3())
def test_evaporation_msg(self):
"""
test the evaporation of one specified message
:return:
"""
bffr = SoBuffer(min_diffusion=1.0)
now = rospy.Time(secs=500000)
# with goal radius --> should be kept
msg = SoMessage(Header(None, now - rospy.Duration(45), 'None'), None,
Vector3(1, 1, 0), Quaternion(), Vector3(), 1, 4.0, 1.0,
0.8, 5, now - rospy.Duration(45), False, [])
result = SoMessage(Header(None, now - rospy.Duration(45), 'None'),
None, Vector3(1, 1, 0), Quaternion(), Vector3(), 1,
4.0 * (0.8 ** 9), 1.0, 0.8, 5, now, False, [])
self.assertEqual(bffr._evaporate_msg(msg, now), result)
# following tests do not seem to be valid!
# ########################################
# without goal radius --> should be deleted
# msg = SoMessage(Header(None, now - rospy.Duration(45), 'None'), None,
# Vector3(1, 1, 0), Quaternion(), Vector3(), 1, 4.0, 0.0,
# 0.8, 5, now - rospy.Duration(45), False, [])
# msg = bffr._evaporate_msg(msg)
# self.assertEqual(msg, None)
# without goal radius & ev time is 0, ev factor < 1
# --> should be deleted
# msg = SoMessage(Header(None, now - rospy.Duration(45), 'None'), None,
# Vector3(1, 1, 0), Quaternion(), Vector3(), 1, 4.0, 0.0,
# 0.8, 0, now - rospy.Duration(45), False, [])
# msg = bffr._evaporate_msg(msg)
# self.assertEqual(msg, None)
# without goal radius & ev time is 0, ev factor == 1.0
# --> kept as it is
msg = SoMessage(Header(None, now - rospy.Duration(45), 'None'), None,
Vector3(1, 1, 0), Quaternion(), Vector3(), 1, 4.0, 0.0,
1.0, 0, now - rospy.Duration(45), False, [])
result = SoMessage(Header(None, now - rospy.Duration(45), 'None'),
None, Vector3(1, 1, 0), Quaternion(), Vector3(), 1,
4.0, 0.0, 1.0, 0, now - rospy.Duration(45), False,
[])
self.assertEqual(bffr._evaporate_msg(msg, now), result)
# with goal radius & ev time is 0, ev factor < 1.0
msg = SoMessage(Header(None, now - rospy.Duration(45), 'None'), None,
Vector3(1, 1, 0), Quaternion(), Vector3(), 1, 4.0, 1.0,
0.0, 0, now - rospy.Duration(45), False, [])
result = SoMessage(Header(None, now - rospy.Duration(45), 'None'),
None, Vector3(1, 1, 0), Quaternion(), Vector3(), 1,
0.0, 1.0, 0.0, 0, now - rospy.Duration(45), False,
[])
self.assertEqual(bffr._evaporate_msg(msg, now), result)
def test_quorum(self):
"""
test quorum sensing class
:return:
"""
bffr = SoBuffer()
quorum = Quorum(bffr, 2)
self.assertEqual(quorum.calc_value()[1], False)
# 2 neighbors within view, one outside view
bffr._moving = {
'robot': {
'robot1': [
SoMessage(),
SoMessage(None, None, Vector3(2, 2, 0), Quaternion(),
Vector3(), 1, 1.0, 1.0, 1.0, 0, None, True, [])
],
'robot2': [
SoMessage(),
SoMessage(None, None, Vector3(5, 6, 0), Quaternion(),
Vector3(), 1, 2.0, 1.0, 1.0, 0, None, True, [])
],
'robot3': [
SoMessage(),
SoMessage(),
SoMessage(None, None, Vector3(1, 2, 0), Quaternion(),
Vector3(), 1, 4.0, 1.0, 1.0, 0, None, True, [])
],
'robot4': []
}
}
bffr._static = {
'None': [
SoMessage(None, None, Vector3(5, 6, 5), Quaternion(),
Vector3(), 1, 1.0, 1.0, 1.0, 0, None, False, [])
]
}
bffr._own_pos = [
SoMessage(None, None, Vector3(1, 1, 1), Quaternion(), Vector3(), 1,
1.0, 1.0, 1.0, 0, None, False, [])
]
self.assertEqual(quorum.calc_value()[1], True)
quorum.threshold = 3
self.assertEqual(quorum.calc_value()[1], False)
def test_store_data_ev(self):
"""
test store_data method, evaporation of received data
"""
bffr = SoBuffer(aggregation={'DEFAULT': AGGREGATION.MAX})
testlist = {'None': []}
now = rospy.Time(secs=500000)
# not to be stored - ev time is zero, no goal radius
msg = SoMessage(None, None, Vector3(2, 2, 0), Quaternion(), Vector3(),
1, 4.0, 0.0, 0.3, 0, None, False, [])
bffr.store_data(msg, now)
# received data is older than stored one, will be evaporated
# and than compared
msg = SoMessage(Header(None, now - rospy.Duration(10), None), None,
Vector3(2, 2, 0), Quaternion(), Vector3(), 1, 4.0, 1.0,
0.8, 5, now - rospy.Duration(10), False, [])
result = SoMessage(Header(None, now - rospy.Duration(10), 'None'),
'None', Vector3(2, 2, 0), Quaternion(), Vector3(),
1, 4.0 * (0.8 ** 2), 1.0, 0.8, 5, now, False, [])
testlist['None'].append(result)
bffr.store_data(msg, now)
msg = SoMessage(Header(None, now - rospy.Duration(15), None), None,
Vector3(2, 2, 0), Quaternion(), Vector3(), 1, 4.0, 1.0,
0.8, 5, now - rospy.Duration(15), False, [])
bffr.store_data(msg, now)
self.assertEqual(bffr._static, testlist)
def test_de_serialization(self):
test_str = "FoooBArr\n"
test_float = np.pi
test_dict = {'bla': test_str, 'foo': test_float}
msg = SoMessage(None, None, Vector3(2, 2, 0), Quaternion(), Vector3(),
1, 1.0, 1.0, 1.0, 0, None, True, [])
msg.payload = test_dict
original_msg = deepcopy(msg)
bffr = SoBuffer()
broadcaster = SoBroadcaster()
rospy.sleep(0.5)
broadcaster.send_data(msg)
rospy.sleep(0.5)
gradients = bffr.all_gradients()
self.assertEqual(gradients[0].payload, original_msg.payload)
# other simple payload
msg.payload = np.pi
msg.parent_frame = 'float_msg'
original_msg = deepcopy(msg)
broadcaster.send_data(msg)
rospy.sleep(0.5)
gradients = bffr.all_gradients()
self.assertEqual(gradients[0].payload, original_msg.payload)
def test_gradients(self):
"""
test gradients method
"""
bffr = SoBuffer(view_distance=2.0)
# 2 neighbors within view, one outside view
bffr._moving = {
'robot': {
'robot1': [SoMessage(),
SoMessage(None, None, Vector3(2, 2, 0),
Quaternion(), Vector3(), 1, 1.0, 1.0, 1.0,
0, None, True, [])],
'robot2': [SoMessage(),
SoMessage(None, None, Vector3(5, 6, 0),
Quaternion(), Vector3(), 1, 2.0, 1.0, 1.0,
0, None, True, [])],
'robot3': [SoMessage(),
SoMessage(),
SoMessage(None, None, Vector3(1, 2, 0),
Quaternion(), Vector3(), -1, 4.0, 1.0,
1.0, 0, None, True, [])],
'robot4': []
}
}
bffr._static = {
'None': [SoMessage(None, None, Vector3(2, 1, 0), Quaternion(),
Vector3(), 1, 1.0, 1.0, 1.0, 0, None, False,
[]), SoMessage()],
}
bffr._own_pos = [
SoMessage(None, None, Vector3(1, 1, 1), Quaternion(), Vector3(), 1,
1.0, 1.0, 1.0, 0, None, False, [])]
result = [
SoMessage(None, None, Vector3(1, 2, 0), Quaternion(), Vector3(),
-1, 4.0, 1.0, 1.0, 0, None, True, []),
SoMessage(None, None, Vector3(2, 2, 0), Quaternion(), Vector3(), 1,
1.0, 1.0, 1.0, 0, None, True, [])
]
self.assertEqual(bffr.gradients(static=False, time=self.now), result)
result = [SoMessage(None, None, Vector3(2, 1, 0), Quaternion(),
Vector3(), 1, 1.0, 1.0, 1.0, 0, None, False, []),
SoMessage(None, None, Vector3(1, 2, 0), Quaternion(),
Vector3(), -1, 4.0, 1.0, 1.0, 0, None, True, []),
SoMessage(None, None, Vector3(2, 2, 0), Quaternion(),
Vector3(), 1, 1.0, 1.0, 1.0, 0, None, True, [])]
self.assertEqual(bffr.gradients(time=self.now), result)
def test_agent_list(self):
"""
test agent list function
:return:
"""
bffr = SoBuffer(view_distance=2.0)
self.assertEqual(bffr.agent_list([bffr.pose_frame], time=self.now), [])
# 2 neighbors within view, one outside view
bffr._moving = {
'robot': {
'robot1': [SoMessage(),
SoMessage(None, None, Vector3(2, 2, 0),
Quaternion(), Vector3(), 1, 1.0, 1.0, 1.0,
0, None, True, [])],
'robot2': [SoMessage(),
SoMessage(None, None, Vector3(5, 6, 0),
Quaternion(), Vector3(), 1, 2.0, 1.0, 1.0,
0, None, True, [])],
'robot3': [SoMessage(),
SoMessage(),
SoMessage(None, None, Vector3(1, 2, 0),
Quaternion(), Vector3(), 1, 4.0, 1.0, 1.0,
0, None, True, [])],
'robot4': []
}
}
bffr._static = {
'None': [SoMessage(None, None, Vector3(5, 6, 5), Quaternion(),
Vector3(), 1, 1.0, 1.0, 1.0, 0, None, False,
[]), SoMessage()],
}
bffr._own_pos = [
SoMessage(None, None, Vector3(1, 1, 1), Quaternion(), Vector3(),
1, 1.0, 1.0, 1.0, 0, None, False, [])]
result = [
SoMessage(None, None, Vector3(1, 2, 0), Quaternion(), Vector3(), 1,
4.0, 1.0, 1.0, 0, None, True, []),
SoMessage(None, None, Vector3(2, 2, 0), Quaternion(), Vector3(), 1,
1.0, 1.0, 1.0, 0, None, True, [])]
self.assertEqual(bffr.agent_list([bffr.pose_frame], time=self.now), result)
self.assertEqual(bffr.agent_list([bffr.pose_frame], time=self.now), result)
def test_static_list_angle(self):
"""
test static_list_angle method
:return:
"""
bffr = SoBuffer(view_distance=2.0)
bffr._own_pos = [
SoMessage(None, None, Vector3(1, 1, 0), Quaternion(),
Vector3(1, 0, 0), 1, 1.0, 1.0, 1.0, 0, None, False, [])]
bffr._static = {
'None': [SoMessage(None, None, Vector3(2, 1, 3), Quaternion(),
Vector3(), 1, 1.0, 0.1, 1.0, 0, None, False,
[]),
SoMessage(None, None, Vector3(3, 3, 0), Quaternion(),
Vector3(), -1, 0.2, 0.5, 1.0, 0, None, False,
[]),
SoMessage(None, None, Vector3(2, 2, 0), Quaternion(),
Vector3(), 1, 5.0, 0.2, 1.0, 0, None, False,
[]),
],
'Center': [SoMessage(None, None, Vector3(1, 1.8, 0), Quaternion(),
Vector3(), -1, 8.0, 1.0, 1.0, 0, None, False,
[]),
SoMessage(None, None, Vector3(0, 0, 0), Quaternion(),
Vector3(), -1, 3.0, 0.1, 1.0, 0, None, False,
[])]
}
result = [SoMessage(None, None, Vector3(1, 1.8, 0), Quaternion(),
Vector3(), -1, 8.0, 1.0, 1.0, 0, None, False, []),
SoMessage(None, None, Vector3(0, 0, 0), Quaternion(),
Vector3(), -1, 3.0, 0.1, 1.0, 0, None, False, [])]
self.assertEqual(bffr.static_list_angle(['Center'], np.pi, time=self.now), result)
self.assertEqual(bffr.static_list_angle(['Center'], np.pi/2, time=self.now),
[SoMessage(None, None, Vector3(1, 1.8, 0),
Quaternion(), Vector3(), -1, 8.0, 1.0, 1.0,
0, None, False, [])])
self.assertEqual(bffr.static_list_angle(['Center'], 0, time=self.now), [])
def test_max_attractive_gradient(self):
"""
test max attractive and strongest gradient methods
"""
bffr = SoBuffer(view_distance=2.0)
bffr._static = {
'None': [SoMessage(None, None, Vector3(2, 1, 3), Quaternion(),
Vector3(), 1, 1.0, 0.1, 1.0, 0, None, False,
[]),
SoMessage(None, None, Vector3(3, 3, 0), Quaternion(),
Vector3(), -1, 0.2, 0.5, 1.0, 0, None, False,
[]),
SoMessage(None, None, Vector3(2, 2, 0), Quaternion(),
Vector3(), 1, 5.0, 0.2, 1.0, 0, None, False,
[]),
],
'Center': [SoMessage(None, None, Vector3(1, 1, 1), Quaternion(),
Vector3(), -1, 8.0, 1.0, 1.0, 0, None, False,
[]),
SoMessage(None, None, Vector3(3, 1, 2), Quaternion(),
Vector3(), -1, 3.0, 0.1, 1.0, 0, None, False,
[])]
}
bffr._own_pos = [
SoMessage(None, None, Vector3(1, 1, 1), Quaternion(), Vector3(), 1,
1.0, 0, 1.0, 0, None, False, [])]
self.assertEqual(bffr.max_attractive_gradient(time=self.now),
SoMessage(None, None, Vector3(2, 2, 0), Quaternion(),
Vector3(), 1, 5.0, 0.2, 1.0, 0, None, False,
[]))
self.assertEqual(bffr.min_attractive_gradient(time=self.now),
SoMessage(None, None, Vector3(2, 1, 3), Quaternion(),
Vector3(), 1, 1.0, 0.1, 1.0, 0, None, False,
[]))
self.assertEqual(bffr.strongest_gradient(time=self.now),
SoMessage(None, None, Vector3(1, 1, 1), Quaternion(),
Vector3(), -1, 8.0, 1.0, 1.0, 0, None,
False, []))
def test_chemotaxis_ge(self):
"""
test chemotaxis ge mechanism
:return:
"""
bffr = SoBuffer()
chem = ChemotaxisGe(bffr, moving=False, static=True, maxvel=np.inf)
bffr._own_pos = [
SoMessage(None, None, Vector3(1, -2, 0), Quaternion(), Vector3(),
-1, 3.0, 0.0, 1.0, 0, None, False, [])
]
bffr._static = {
'gradient': [
SoMessage(None, None, Vector3(2, 3, 1), Quaternion(),
Vector3(), -1, 4.0, 1.0, 1.0, 0, None, False, []),
SoMessage(None, None, Vector3(1, 0, 0), Quaternion(),
Vector3(), 1, 3.0, 1.0, 1.0, 0, None, False, [])
],
'None': [
SoMessage(None, None, Vector3(4, 2, 0), Quaternion(),
Vector3(), -1, 4.0, 2.0, 1.0, 0, None, False, []),
SoMessage(None, None, Vector3(5, 6, 3), Quaternion(),
Vector3(), 1, 2.0, 1.0, 1.0, 0, None, False, [])
]
}
bffr._moving = {
'robot1': {
'None': [
SoMessage(None, None, Vector3(1, -2, 1), Quaternion(),
Vector3(), -1, 4.0, 0.0, 1.0, 0, None, False, [])
]
},
'robot2': {}
}
# only one frameID + repulsive gradient is not considered
chem.frames = ['gradient']
result = chem.move()
result.x = round(result.x, 2)
result.y = round(result.y, 2)
result.z = round(result.z, 2)
self.assertEqual(result, Vector3(0.0, 1.0, 0.0))
# all frameIDs
chem.frames = []
result = chem.move()
result.x = round(result.x, 2)
result.y = round(result.y, 2)
result.z = round(result.z, 2)
self.assertEqual(result, Vector3(-0.02, 0.98, 0.0))
# no gradient within view
chem.frames = ['test']
result = chem.move()
self.assertEqual(result, None)
bffr._static = {
'test': [
SoMessage(None, None, Vector3(0, -1, 2), Quaternion(),
Vector3(), -1, 1.0, 1.0, 1.0, 0, None, False, [])
]
}
chem.frames = ['test']
result = chem.move()
self.assertEqual(result, Vector3())
def test_chemotaxis_balch(self):
"""
test chemotaxis balch mechanism
:return:
"""
bffr = SoBuffer()
chem = ChemotaxisBalch(bffr, moving=False, static=True, maxvel=np.inf)
bffr._own_pos = [
SoMessage(None, None, Vector3(1, 2, 3), Quaternion(), Vector3(),
-1, 3.0, 0.0, 1.0, 0, None, False, [])
]
bffr._static = {
'gradient': [
SoMessage(None, None, Vector3(2, 3, 1), Quaternion(),
Vector3(), -1, 1.0, 1.0, 1.0, 0, None, False, []),
SoMessage(None, None, Vector3(2, 2, 2), Quaternion(),
Vector3(), 1, 1.0, 1.0, 1.0, 0, None, False, [])
],
'None': [
SoMessage(None, None, Vector3(0, 3, 2), Quaternion(),
Vector3(), -1, 3.0, 1.0, 1.0, 0, None, False, []),
SoMessage(None, None, Vector3(5, 6, 3), Quaternion(),
Vector3(), 1, 2.0, 1.0, 1.0, 0, None, False, [])
]
}
# only one frameID + repulsive gradient is not considered
chem.frames = ['gradient']
result = chem.move()
result.x = round(result.x, 2)
result.y = round(result.y, 2)
result.z = round(result.z, 2)
self.assertEqual(result, Vector3(0.29, 0.0, -0.29))
# all frameIDs
chem.frames = []
result = chem.move()
result.x = round(result.x, 2)
result.y = round(result.y, 2)
result.z = round(result.z, 2)
self.assertEqual(result, Vector3(0.73, -0.44, 0.14))
# not existing frame ID - no gradient will be followed
chem.frames = ['test']
result = chem.move()
self.assertEqual(result, None)
bffr._static = {
'test': [
SoMessage(None, None, Vector3(2, 3, 1), Quaternion(),
Vector3(), -1, 1.0, 1.0, 1.0, 0, None, False, [])
]
}
chem.frames = ['test']
result = chem.move()
self.assertEqual(result, Vector3())
bffr._static = {
'test': [
SoMessage(None, None, Vector3(2, 3, 1), Quaternion(),
Vector3(), -1, 1.0, 1.0, 1.0, 0, None, False, [])
]
}
chem.frames = ['test']
result = chem.move()
self.assertEqual(result, Vector3())
def test_evaporation_buffer(self):
"""
test evaporation of buffer data using evaporate_buffer method
"""
bffr = SoBuffer(aggregation=AGGREGATION.MAX, min_diffusion=1.0)
now = rospy.Time(secs=500000)
data = {'None': [ # message has goal radius - should be kept
SoMessage(Header(None, now - rospy.Duration(45), 'None'), 'None',
Vector3(1, 1, 0), Quaternion(), Vector3(), 1, 4.0, 1.0,
0.8, 5, now - rospy.Duration(45), False, []),
# evaporation time is zero cases
SoMessage(Header(None, now - rospy.Duration(45), 'None'), 'None',
Vector3(1, 1, 0), Quaternion(), Vector3(), 1, 4.0, 1.0,
0.8, 0, now - rospy.Duration(45), False, []),
SoMessage(Header(None, now - rospy.Duration(45), 'None'), 'None',
Vector3(1, 1, 0), Quaternion(), Vector3(), 1, 4.0, 0.0,
1.0, 0, now - rospy.Duration(45), False, []),
SoMessage(Header(None, now - rospy.Duration(45), 'None'), 'None',
Vector3(1, 1, 0), Quaternion(), Vector3(), 1, 4.0, 1.0,
1.0, 0, now - rospy.Duration(45), False, []),
# messages without goal radius - will be sorted out based on
# min diffusion
SoMessage(Header(None, now - rospy.Duration(20), 'None'), 'None',
Vector3(2, 2, 0), Quaternion(), Vector3(), 1, 4.0, 0.0,
0.75, 5, now - rospy.Duration(20), False, []),
SoMessage(Header(None, now - rospy.Duration(5), 'None'), 'None',
Vector3(5, 5, 0), Quaternion(), Vector3(), 1, 4.0, 0.0,
0.8, 3, now - rospy.Duration(5), False, []),
SoMessage(Header(None, now, 'None'), 'None', Vector3(6, 6, 0),
Quaternion(), Vector3(), 1, 4.0, 0.0, 0.8, 5, now, False,
[])
], 'gradient': [
SoMessage(Header(None, now - rospy.Duration(45), 'gradient'),
'None', Vector3(1, 1, 0), Quaternion(), Vector3(), 1,
4.0, 0.0, 0.8, 5, now - rospy.Duration(45), False, []),
SoMessage(Header(None, now - rospy.Duration(15), 'gradient'),
'None', Vector3(3, 3, 0), Quaternion(), Vector3(), 1,
4.0, 0.0, 0.6, 5, now - rospy.Duration(15), False, [])
], 'robo': [
SoMessage(Header(None, now - rospy.Duration(10), 'robo'), 'None',
Vector3(4, 4, 0), Quaternion(), Vector3(), 1, 4.0, 0.0,
0.8, 4, now - rospy.Duration(10), False, [])]}
bffr._static = deepcopy(data)
bffr._evaporate_buffer(time=now)
data = {'None': [
SoMessage(Header(None, now - rospy.Duration(45), 'None'), 'None',
Vector3(1, 1, 0), Quaternion(), Vector3(), 1, 4.0 *
(0.8 ** 9), 1.0, 0.8, 5, now, False, []),
SoMessage(Header(None, now - rospy.Duration(45), 'None'), 'None',
Vector3(1, 1, 0), Quaternion(), Vector3(), 1, 0.0, 1.0,
0.8, 0, now - rospy.Duration(45), False, []),
SoMessage(Header(None, now - rospy.Duration(45), 'None'), 'None',
Vector3(1, 1, 0), Quaternion(), Vector3(), 1, 4.0, 0.0,
1.0, 0, now - rospy.Duration(45), False, []),
SoMessage(Header(None, now - rospy.Duration(45), 'None'), 'None',
Vector3(1, 1, 0), Quaternion(), Vector3(), 1, 4.0, 1.0,
1.0, 0, now - rospy.Duration(45), False, []),
SoMessage(Header(None, now - rospy.Duration(20), 'None'), 'None',
Vector3(2, 2, 0), Quaternion(), Vector3(), 1,
4.0 * (0.75 ** 4), 0.0, 0.75, 5, now, False, []),
SoMessage(Header(None, now - rospy.Duration(5), 'None'), 'None',
Vector3(5, 5, 0), Quaternion(), Vector3(), 1, 4.0 * 0.8,
0.0, 0.8, 3, now - rospy.Duration(2), False, []),
SoMessage(Header(None, now, 'None'), 'None', Vector3(6, 6, 0),
Quaternion(), Vector3(), 1, 4.0, 0.0, 0.8, 5, now,
False, [])],
'gradient': [],
'robo': [
SoMessage(Header(None, now - rospy.Duration(10), 'robo'),
'None', Vector3(4, 4, 0), Quaternion(), Vector3(), 1,
4.0 * (0.8 ** 2), 0.0, 0.8, 4,
now - rospy.Duration(2), False, [])
]}
self.assertEqual(bffr._static, data)
def test_store_data_various_aggregations(self):
"""
test store data method with different aggregation options for
different frame IDs
:return:
"""
bffr = SoBuffer(aggregation={'DEFAULT': AGGREGATION.MAX,
'grad': AGGREGATION.AVG})
testlist = {'None': [], 'grad': []}
now = rospy.Time(secs=500000)
msg = SoMessage(Header(None, now, 'None'), 'None', Vector3(2, 2, 0),
Quaternion(), Vector3(), 1, 4.0, 1.0, 1.0, 0, None,
False, [])
bffr.store_data(msg=msg, time=now)
msg = SoMessage(Header(None, now, 'grad'), 'None', Vector3(4, 5, 0),
Quaternion(), Vector3(), 1, 4.0, 1.0, 1.0, 0, None,
False, [])
bffr.store_data(msg, now)
msg = SoMessage(Header(None, now, 'None'), 'None', Vector3(3, 3, 0),
Quaternion(), Vector3(), 1, 3.0, 1.0, 1.0, 0, None,
False, [])
testlist['None'].append(deepcopy(msg))
bffr.store_data(msg, now)
msg = SoMessage(Header(None, now, 'grad'), 'None', Vector3(5, 5, 0),
Quaternion(), Vector3(), 1, 4.0, 1.0, 1.0, 0, None,
False, [])
testlist['grad'].append(SoMessage(Header(None, now, 'grad'), 'None',
Vector3(4.5, 5, 0), Quaternion(),
Vector3(), 1, 4.0, 1.0, 1.0, 0, None,
False, []))
bffr.store_data(msg, now)
msg = SoMessage(Header(None, now, 'None'), 'None', Vector3(2, 2, 0),
Quaternion(), Vector3(), 1, 5.0, 1.0, 1.0, 0, None,
False, [])
testlist['None'].append(deepcopy(msg))
bffr.store_data(msg, now)
self.assertEqual(bffr._static, testlist)
def test_store_data_max_aggregation_distance(self):
"""
test store_data method aggregation option = max,
aggregation distance = 0.0
"""
bffr = SoBuffer(aggregation={'DEFAULT': AGGREGATION.MAX},
aggregation_distance=0.0)
now = rospy.Time(secs=500000)
testlist = []
msg = SoMessage(None, None, Vector3(2, 2, 0), Quaternion(), Vector3(),
1, 4.0, 1.0, 1.0, 0, None, False, [])
bffr.store_data(msg, now)
msg = SoMessage(None, None, Vector3(2, 2, 0), Quaternion(), Vector3(),
1, 5.0, 1.0, 1.0, 0, None, False, [])
testlist.append(deepcopy(msg))
bffr.store_data(msg, now)
# store max value within aggregation distance!
msg = SoMessage(None, None, Vector3(2, 1, 0), Quaternion(), Vector3(),
1, 6.0, 1.0, 1.0, 0, None, False, [])
testlist.append(deepcopy(msg))
bffr.store_data(msg, now)
# keep max of both
msg = SoMessage(None, None, Vector3(3, 3, 0), Quaternion(), Vector3(),
1, 4.0, 1.0, 1.0, 0, None, False, [])
testlist.append(deepcopy(msg))
bffr.store_data(msg, now)
msg = SoMessage(None, None, Vector3(3, 3, 0), Quaternion(), Vector3(),
1, 3.0, 1.0, 1.0, 0, None, False, [])
bffr.store_data(msg, now)
# only value at this postion / area
msg = SoMessage(None, None, Vector3(5, 5, 0), Quaternion(), Vector3(),
1, 4.0, 1.0, 1.0, 0, None, False, [])
testlist.append(deepcopy(msg))
bffr.store_data(msg, now)
for el in testlist:
el.header.frame_id = 'None'
el.parent_frame = 'None'
self.assertEqual(bffr._static, {'None': testlist})
def test_gradient_repulsion(self):
"""
test gradient repulsion method based on gradients
:return:
"""
bffr = SoBuffer(id='robot1')
repulsion = RepulsionGradient(bffr)
# no own position specified
self.assertEqual(repulsion.move(), None)
bffr._own_pos = [
SoMessage(Header(None, rospy.Time.now(), 'None'), None,
Vector3(2, 4, 0), Quaternion(), Vector3(), 1, 4.0, 0.0,
1.0, 0, None, False, []),
SoMessage(Header(None, rospy.Time.now(), 'None'), None,
Vector3(2, 2, 0), Quaternion(), Vector3(), 1, 2.0, 0.0,
1.0, 0, None, False, [])
]
# no neighbors specified
self.assertEqual(repulsion.move(), None)
bffr._moving = {
'robot': {
'robot2': [
SoMessage(Header(None, rospy.Time.now(), 'robot'),
'robot2', Vector3(1, 3, 0), Quaternion(),
Vector3(), -1, 1.0, 1.0, 1.0, 0, None, False, [])
],
'robot3': [
SoMessage(Header(None, rospy.Time.now(),
'robot'), 'robot3', Vector3(2, 2, 0),
Quaternion(), Vector3(), -1, 4.0, 1.0, 1.0, 0,
None, False, []),
SoMessage(Header(None, rospy.Time.now(), 'robot'),
'robot3', Vector3(3, 2, 0), Quaternion(),
Vector3(), -1, 1.0, 0.8, 1.0, 0, None, False, [])
]
}
}
# calculate resulting vector
result = repulsion.move()
result.x = round(result.x, 2)
result.y = round(result.y, 2)
result.z = round(result.z, 2)
# calculate vector
self.assertEqual(result, Vector3(-0.39, -0.41, 0.0))
# neighbor within goal_radius - returns vector with
# ||vector|| = repulsion_radius
bffr._moving = {
'robot': {
'robot2': [
SoMessage(Header(None, rospy.Time.now(), 'robot'),
'robot2', Vector3(2, 1.5, 0), Quaternion(),
Vector3(), -1, 2.0, 1.0, 1.0, 0, None, False, [])
]
}
}
d = round(so_data.calc.vector_length(repulsion.move()), 0)
# calculate vector
self.assertEqual(d, 2.0)
def test_store_data_newest(self):
"""
test store_data method aggregation option = newest
"""
bffr = SoBuffer(aggregation={'DEFAULT': AGGREGATION.NEW})
now = rospy.Time(secs=500000)
testlist = []
msg = SoMessage(None, None, Vector3(2, 2, 0), Quaternion(), Vector3(),
1, 4.0, 1.0, 1.0, 0, None, False, [])
bffr.store_data(msg, now)
msg = SoMessage(None, None, Vector3(3, 3, 0), Quaternion(), Vector3(),
1, 4.0, 1.0, 1.0, 0, None, False, [])
bffr.store_data(msg, now)
msg = SoMessage(None, None, Vector3(3, 3, 0), Quaternion(), Vector3(),
1, 3.0, 1.0, 1.0, 0, None, False, [])
testlist.append(deepcopy(msg))
bffr.store_data(msg, now)
msg = SoMessage(None, None, Vector3(5, 5, 0), Quaternion(), Vector3(),
1, 4.0, 1.0, 1.0, 0, None, False, [])
bffr.store_data(msg, now)
msg = SoMessage(None, None, Vector3(2, 2, 0), Quaternion(), Vector3(),
-1, 5.0, 1.0, 1.0, 0, None, False, [])
testlist.append(deepcopy(msg))
bffr.store_data(msg, now)
msg = SoMessage(None, None, Vector3(5, 5, 0), Quaternion(), Vector3(),
-1, 4.0, 1.0, 1.0, 0, None, False, [])
testlist.append(deepcopy(msg))
bffr.store_data(msg, now)
for el in testlist:
el.header.frame_id = 'None'
el.parent_frame = 'None'
self.assertEqual(bffr._static, {'None': testlist})
def test_store_data_fids_selection(self):
"""
test store_data method, only store gradients with specified frameids
"""
bffr = SoBuffer(aggregation={'DEFAULT': AGGREGATION.MAX},
store_all=False, framestorage=['grad', 'silk'])
testlist = {'grad': [], 'silk': []}
now = rospy.Time(secs=500000)
msg = SoMessage(Header(None, now, 'pheromone'), 'None',
Vector3(2, 2, 0), Quaternion(), Vector3(), 1, 4.0, 1.0,
1.0, 0, None, False, [])
bffr.store_data(msg, now)
msg = SoMessage(Header(None, now, 'grad'), 'None', Vector3(3, 3, 0),
Quaternion(), Vector3(), 1, 4.0, 1.0, 1.0, 0, None,
False, [])
testlist['grad'].append(deepcopy(msg))
bffr.store_data(msg, now)
msg = SoMessage(None, None, Vector3(3, 3, 0), Quaternion(), Vector3(),
1, 3.0, 1.0, 1.0, 0, None, False, [])
bffr.store_data(msg, now)
msg = SoMessage(Header(None, now, 'grad'), 'None', Vector3(5, 5, 0),
Quaternion(), Vector3(), 1, 4.0, 1.0, 1.0, 0, None,
False, [])
testlist['grad'].append(deepcopy(msg))
bffr.store_data(msg, now)
msg = SoMessage(Header(None, now, 'silk'), 'None', Vector3(5, 5, 0),
Quaternion(), Vector3(), 1, 4.0, 1.0, 1.0, 0, None,
False, [])
testlist['silk'].append(deepcopy(msg))
bffr.store_data(msg, now)
msg = SoMessage(None, None, Vector3(2, 2, 0), Quaternion(), Vector3(),
1, 5.0, 1.0, 1.0, 0, None, False, [])
bffr.store_data(msg, now)
self.assertEqual(bffr._static, testlist)
def test_follow_max_reach(self):
"""
test FollowMin Mechanism
:return:
"""
bffr = SoBuffer()
chem = FollowMaxReach(bffr, moving=False, static=True, maxvel=np.inf)
bffr._own_pos = [
SoMessage(None, None, Vector3(1, 2, 3), Quaternion(), Vector3(),
-1, 3.0, 0.0, 1.0, 0, None, False, [])
]
bffr._moving = {
'robot1': {
'None': [
SoMessage(None, None, Vector3(1, 2, 3), Quaternion(),
Vector3(), -1, 3.0, 0.0, 1.0, 0, None, False, [])
]
},
'robot2': {}
}
bffr._static = {
'gradient': [
SoMessage(None, None, Vector3(2, 3, 1), Quaternion(),
Vector3(), -1, 3.0, 1.0, 1.0, 0, None, False, []),
SoMessage(None, None, Vector3(2, 2, 2), Quaternion(),
Vector3(), 1, 1.0, 1.0, 1.0, 0, None, False, [])
],
'None': [
SoMessage(None, None, Vector3(7, 3, 2), Quaternion(),
Vector3(), -1, 3.0, 1.0, 1.0, 0, None, False, []),
SoMessage(None, None, Vector3(5, 6, 3), Quaternion(),
Vector3(), 1, 2.0, 1.0, 1.0, 0, None, False, [])
],
'test': [
SoMessage(None, None, Vector3(5, 3, 2), Quaternion(),
Vector3(), -1, 3.0, 1.0, 1.0, 0, None, False, []),
SoMessage(None, None, Vector3(7, 2, 3), Quaternion(),
Vector3(), -1, 3.0, 1.0, 1.0, 0, None, False, []),
SoMessage(None, None, Vector3(1, 2, 6), Quaternion(),
Vector3(), 1, 4.0, 1.0, 1.0, 0, None, False, [])
]
}
# with all frameIDs
result = chem.move()
result.x = round(result.x, 2)
result.y = round(result.y, 2)
result.z = round(result.z, 2)
self.assertEqual(result, Vector3(0.0, 0.0, 0.5))
# only one frameID considered - no gradient within view
chem.frames = ['None']
result = chem.move()
self.assertEqual(result, None)
# two frameIDs
chem.frames = ['gradient']
result = chem.move()
result.x = round(result.x, 2)
result.y = round(result.y, 2)
result.z = round(result.z, 2)
self.assertEqual(result, Vector3(0.29, 0.0, -0.29))
def test_store_data_neighbors(self):
"""
test store_data method, store neighbor data and own pos
"""
bffr = SoBuffer(aggregation={'DEFAULT':AGGREGATION.MAX}, id='robot3')
testlist = {'robot': {'robot1': [], 'robot2': []}}
ownpos = []
now = rospy.Time(secs=500000)
# replaced by fourth robot1 message
msg = SoMessage(Header(None, now - rospy.Duration(10), 'robot'),
'robot1', Vector3(2.1, 2.2, 0), Quaternion(),
Vector3(), 1, 4.0, 1.0, 0.8, 5, None, True, [])
bffr.store_data(msg, now)
# position older than newest stored position --> ignore
msg = SoMessage(Header(None, now - rospy.Duration(15), 'robot'),
'robot1', Vector3(2, 2, 0), Quaternion(), Vector3(), 1,
4.0, 1.0, 0.8, 5, None, True, [])
bffr.store_data(msg, now)
# add to position list
msg = SoMessage(Header(None, now - rospy.Duration(5), 'robot'),
'robot1', Vector3(2, 2, 0), Quaternion(), Vector3(), 1,
4.0, 1.0, 0.8, 5, None, True, [])
testlist['robot']['robot1'].append(msg)
bffr.store_data(msg, now)
# add to position list
msg = SoMessage(Header(None, now, 'robot'), 'robot1', Vector3(2, 2, 0),
Quaternion(), Vector3(), 1, 4.0, 1.0, 0.8, 5, None,
True, [])
testlist['robot']['robot1'].append(msg)
bffr.store_data(msg, now)
msg = SoMessage(Header(None, now - rospy.Duration(15), 'robot'),
'robot2', Vector3(2, 2, 0), Quaternion(), Vector3(), 1,
4.0, 1.0, 0.8, 5, None, True, [])
testlist['robot']['robot2'].append(msg)
bffr.store_data(msg, now)
# own position
msg = SoMessage(Header(None, now - rospy.Duration(15), 'robot'),
'robot3', Vector3(2, 2, 0), Quaternion(), Vector3(), 1,
4.0, 1.0, 0.8, 5, None, True, [])
ownpos.append(msg)
bffr.store_data(msg, now)
self.assertEqual(bffr._moving, testlist)
self.assertEqual(bffr._own_pos, ownpos)
def test_repulsion_fernandez(self):
"""
test gradient repulsion method based on Fernandez-Marquez et al.
:return:
"""
# Mechanism
bffr = SoBuffer(id='robot1', view_distance=2.0)
repulsion = RepulsionFernandez(bffr)
# no own position specified
self.assertEqual(repulsion.move(), None)
bffr._own_pos = [
SoMessage(Header(None, rospy.Time.now(), 'None'), None,
Vector3(2, 4, 0), Quaternion(), Vector3(), -1, 4.0, 1.0,
1.0, 0, rospy.Time.now(), False, []),
SoMessage(Header(None, rospy.Time.now(), 'None'), None,
Vector3(2, 2, 0), Quaternion(), Vector3(), -1, 1.0, 0.0,
1.0, 0, rospy.Time.now(), False, [])
]
# no neighbors specified
self.assertEqual(repulsion.move(), None)
bffr._moving = {
'robot': {
'robot2': [
SoMessage(Header(None, rospy.Time.now(), 'None'), 'None',
Vector3(1, 3, 0), Quaternion(), Vector3(), -1,
1.0, 1.0, 1.0, 0, rospy.Time.now(), False, [])
],
'robot3': [
SoMessage(Header(None, rospy.Time.now(), 'None'), 'None',
Vector3(2, 2, 0), Quaternion(), Vector3(), -1,
4.0, 1.0, 1.0, 0, rospy.Time.now(), False, []),
SoMessage(Header(None, rospy.Time.now(), 'None'), 'None',
Vector3(3, 2, 0), Quaternion(), Vector3(), -1,
1.0, 0.8, 1.0, 0, rospy.Time.now(), False, [])
],
'robot4': []
}
}
# calculate resulting vector
result = repulsion.move()
result.x = round(result.x, 2)
result.y = round(result.y, 2)
result.z = round(result.z, 2)
# calculate vector
self.assertEqual(result, Vector3(-0.88, -0.48, 0))
# neighbor within goal_radius - returns vector with
# ||vector|| = repulsion_radius
bffr._moving = {
'robot': {
'robot2': [
SoMessage(Header(None, rospy.Time.now(), 'None'), None,
Vector3(2, 2, 0), Quaternion(), Vector3(), -1,
2.0, 1.0, 1.0, 0, rospy.Time.now(), False, [])
]
}
}
d = round(so_data.calc.vector_length(repulsion.move()), 0)
# calculate vector
self.assertEqual(d, 1.0)
def test_store_data_neighbors_False(self):
"""
test store_data method, neighbor gradients will not be stored
:return:
"""
bffr = SoBuffer(aggregation={'DEFAULT': AGGREGATION.MAX},
moving_storage_size=0, id='')
now = rospy.Time(secs=500000)
# replaced by fourth robot1 message
msg = SoMessage(Header(None, now - rospy.Duration(10), 'robot1'), None,
Vector3(2.1, 2.2, 0), Quaternion(), Vector3(), 1, 4.0,
1.0, 0.8, 5, None, True, [])
bffr.store_data(msg, now)
# position older than newest stored position --> ignore
msg = SoMessage(Header(None, now - rospy.Duration(15), 'robot1'), None,
Vector3(2, 2, 0), Quaternion(), Vector3(), 1, 4.0, 1.0,
0.8, 5, None, True, [])
bffr.store_data(msg, now)
# add to position list
msg = SoMessage(Header(None, now - rospy.Duration(5), 'robot1'), None,
Vector3(2, 2, 0), Quaternion(), Vector3(), 1, 4.0, 1.0,
0.8, 5, None, True, [])
bffr.store_data(msg, now)
# add to position list
msg = SoMessage(Header(None, now, 'robot1'), None, Vector3(2, 2, 0),
Quaternion(), Vector3(), 1, 4.0, 1.0, 0.8, 5, None,
True, [])
bffr.store_data(msg, now)
msg = SoMessage(Header(None, now - rospy.Duration(15), 'robot2'), None,
Vector3(2, 2, 0), Quaternion(), Vector3(), 1, 4.0, 1.0,
0.8, 5, None, True, [])
bffr.store_data(msg, now)
# own position
msg = SoMessage(Header(None, now - rospy.Duration(15), 'robot3'), None,
Vector3(2, 2, 0), Quaternion(), Vector3(), 1, 4.0, 1.0,
0.8, 5, None, True, [])
bffr.store_data(msg, now)
self.assertEqual(bffr._moving, {})
self.assertEqual(bffr._own_pos, [])
