def test_symmetry(self) -> None:
attrs = {
"simulated_ego_states": torch.ones(20, 7),
"recorded_ego_states": torch.full((20, 7), 2.0),
}
sim_output = mock.Mock(**attrs)
metric = metrics.DisplacementErrorMetric(error_functions.l2_error)
result = metric.compute(sim_output)
attrs = {
"simulated_ego_states": torch.full((20, 7,), 2.0),
"recorded_ego_states": torch.ones(20, 7),
}
sim_output = mock.Mock(**attrs)
metric = metrics.DisplacementErrorMetric(error_functions.l2_error)
result_switch = metric.compute(sim_output)
self.assertEqual(result.sum(), result_switch.sum())
def test_parallel_trajectory(self) -> None:
attrs = {
"simulated_ego_states": torch.ones(20, 7),
"recorded_ego_states": torch.full((20, 7), 2.0),
}
sim_output = mock.Mock(**attrs)
metric = metrics.DisplacementErrorMetric(error_functions.l2_error)
result = metric.compute(sim_output)
self.assertEqual(len(torch.unique(result)), 1)
self.assertAlmostEqual(torch.unique(result).item(), 1.4142, 4)
def test_more_simulation_than_observation(self) -> None:
timesteps = 20
attrs = {
"simulated_ego_states": torch.ones(timesteps + 20, 7),
"recorded_ego_states": torch.ones(timesteps, 7),
}
sim_output = mock.Mock(**attrs)
metric = metrics.DisplacementErrorMetric(error_functions.l2_error)
with self.assertRaisesRegex(ValueError, "More simulated timesteps than observed"):
_ = metric.compute(sim_output)
def test_same_trajectory(self) -> None:
timesteps = 20
attrs = {
"simulated_ego_states": torch.ones(timesteps, 7),
"recorded_ego_states": torch.ones(timesteps, 7),
}
sim_output = mock.Mock(**attrs)
metric = metrics.DisplacementErrorMetric(error_functions.l2_error)
result = metric.compute(sim_output)
self.assertEqual(len(result), timesteps)
self.assertEqual(result.sum(), 0.)
def test_half_trajectories(self) -> None:
observed_trajectory = torch.ones(40, 7)
observed_trajectory[20:, :] += 1.0
attrs = {
"simulated_ego_states": torch.ones(40, 7),
"recorded_ego_states": observed_trajectory,
}
sim_output = mock.Mock(**attrs)
metric = metrics.DisplacementErrorMetric(error_functions.l2_error)
result = metric.compute(sim_output)
# This is mainly where displacement diverges from distance to ref traj
self.assertEqual(len(torch.unique(result)), 2)
def test_l2_distance_parallel_trajectory(self) -> None:
attrs = {
"simulated_ego_states": torch.ones(20, 7),
"recorded_ego_states": torch.full((20, 7), 2.0),
}
sim_output = mock.Mock(**attrs)
metric_l2_arg = metrics.DisplacementErrorMetric(error_functions.l2_error)
result_l2_arg = metric_l2_arg.compute(sim_output)
metric = metrics.DisplacementErrorL2Metric()
result = metric.compute(sim_output)
# Make sure both results match
self.assertTrue((result_l2_arg == result).all())