def hhhtest_default_constructor(self):
self.create_resampling_particle_set()
defaultParticleSet = self.resamplingParticleSet
self.assertEqual(defaultParticleSet.getNumParticles(),
self.resampleNumParticles)
self.assertEqual(defaultParticleSet.getObservationVariance(), 0.1)
positions = defaultParticleSet.observeParticles()
defaultPosition = [0.0, 0.0]
self.assertEqual(positions.shape, ((self.resampleNumParticles, 2)))
for i in range(self.resampleNumParticles):
self.assertEqual(positions[i, :].tolist(), defaultPosition)
observation = defaultParticleSet.observeTrueState()
self.assertEqual(observation.shape, ((2, )))
self.assertEqual(observation.tolist(), defaultPosition)
self.assertEqual(defaultParticleSet.getDomainSizeX(), 1.0)
self.assertEqual(defaultParticleSet.getDomainSizeY(), 1.0)
weight = 1.0 / self.resampleNumParticles
weights = [weight] * self.resampleNumParticles
self.assertEqual(
dautils.getGaussianWeight(
defaultParticleSet.getDistances(),
defaultParticleSet.getObservationVariance()).tolist(), weights)
self.assertEqual(
dautils.getCauchyWeight(
defaultParticleSet.getDistances(),
defaultParticleSet.getObservationVariance()).tolist(), weights)
# Check boundary condition
self.assertEqual(defaultParticleSet.getBoundaryConditions().get(),
[1, 1, 1, 1])
def test_cauchy_weights(self):
self.set_positions_resampling_set()
obtainedWeights = dautils.getCauchyWeight(
self.resamplingParticleSet.getDistances(),
self.resamplingParticleSet.getObservationVariance())
referenceWeights = [
0.28413284, 0.16789668, 0.04797048, 0.28413284, 0.16789668,
0.04797048
]
assertListAlmostEqual(self, obtainedWeights.tolist(), referenceWeights,
6, 'cauchy weights')
