def test_pair_ego_precursor():
geometry = Geometry(*get_precursor_model())
sender = Sender()
scanner = PairScanner(
send=sender,
geometry1=geometry,
geometry2=None,
action_radius=5.0,
hit_tolerance=0.1,
rotation2=None,
)
scanner.run()
def test_pair_ego_precursor_rot():
geometry = Geometry(*get_precursor_model())
rot = Rotation.from_properties(-0.5*np.pi, [-1, 1, 0], False)
sender = Sender()
scanner = PairScanner(
send=sender,
geometry1=geometry,
geometry2=None,
action_radius=10.0,
hit_tolerance=0.1,
rotation2=rot,
)
scanner.run()
def test_pair_ego_simple():
geometry = Geometry(*get_simple_model1())
sender = Sender()
scanner = PairScanner(
send=sender,
geometry1=geometry,
geometry2=None,
action_radius=10.0,
hit_tolerance=0.1,
rotation2=None,
)
scanner.run()
assert len(sender.connections) == 1
def test_pair_simple_rot():
geometry1 = Geometry(*get_simple_model1())
geometry2 = Geometry(*get_simple_model2())
rot = Rotation.from_properties(-0.5*np.pi, [0, 1, 0], False)
sender = Sender()
scanner = PairScanner(
send=sender,
geometry1=geometry1,
geometry2=geometry2,
action_radius=10.0,
hit_tolerance=0.1,
rotation2=rot,
)
scanner.run()
assert len(sender.connections) == 2