def test_gamma(self): print "" config, robot_params = loadSystem() joint_points = [ JointState(position=[0, 0, 1]), JointState(position=[pi / 2, 0, 2]) ] sensor = TiltingLaserSensor( config["tilting_lasers"]["laserA"], LaserMeasurement(laser_id="laserA", joint_points=joint_points)) sensor.update_config(robot_params) gamma = sensor.compute_marginal_gamma_sqrt(None) print "Gamma:" print gamma self.assertAlmostEqual(gamma[0, 0], 1.0, 6) self.assertAlmostEqual(gamma[1, 1], 1.0, 6) self.assertAlmostEqual(gamma[2, 2], 1.0, 6) self.assertAlmostEqual(gamma[3, 3], 0.5, 6) self.assertAlmostEqual(gamma[4, 4], 0.5, 6) self.assertAlmostEqual(gamma[5, 5], 1.0, 6)