class Benchmark2PeriodRadarsIMM2TestCase(Benchmark2PeriodRadarsTestEnv,
unittest.TestCase):
def setUp(self):
# Radar & States generation
self.setUp_radar_states()
# Filter definition
## Classical models
self.radar_filter_ca = MultiplePeriodRadarsFilterCA(dim_x=9,
dim_z=3,
q=100.,
radars=self.radars)
self.radar_filter_cv = MultiplePeriodRadarsFilterCV(dim_x=9,
dim_z=3,
q=100.,
radars=self.radars)
## IMM with ca, cv and ct models
filters = [self.radar_filter_cv, self.radar_filter_ca]
mu = [0.5, 0.5]
trans = np.array([[0.999, 0.001], [0.001, 0.999]])
self.radar_filter = RadarIMM(filters=filters, mu=mu, M=trans)
# Benchmark definition
self.benchmark = Benchmark(radars=self.radars,
radar_filter=self.radar_filter,
states=self.states)
def test_initialization_is_imm(self):
self.assertTrue(self.benchmark.filter_is_imm)
def test_process_filter_computes_probs(self):
self.benchmark.gen_data_set()
self.benchmark.process_filter(with_nees=True)
self.assertEqual(np.shape(self.benchmark.probs),
(self.len_elements, 2))
class Benchmark1RadarIMM4TestCase(Benchmark1RadarTestEnv,unittest.TestCase):
def setUp(self):
# Radar & States generation
self.setUp_radar_states()
# Filter definition
## Classical models
self.radar_filter_ca = RadarFilterCA(dim_x = 9, dim_z = 3, q = 100., radar = self.radar)
self.radar_filter_cv = RadarFilterCV(dim_x = 9, dim_z = 3, q = 100., radar = self.radar)
self.radar_filter_ct = RadarFilterCT(dim_x = 9, dim_z = 3, q = 100., radar = self.radar)
self.radar_filter_ta = RadarFilterTA(dim_x = 9, dim_z = 3, q = 100., radar = self.radar)
## IMM with ca, cv and ct models
filters = [self.radar_filter_cv, self.radar_filter_ca, self.radar_filter_ct, self.radar_filter_ta]
mu = [0.25, 0.25, 0.25, 0.25]
trans = np.array([[0.997, 0.001, 0.001, 0.001],
[0.050, 0.850, 0.050, 0.050],
[0.001, 0.001, 0.997, 0.001],
[0.001, 0.001, 0.001, 0.997]])
self.radar_filter = RadarIMM(filters = filters, mu = mu, M = trans)
# Benchmark definitions
self.benchmark = Benchmark(radars = self.radar, radar_filter = self.radar_filter, states = self.states)
def test_initialization_is_imm(self):
self.assertTrue(self.benchmark.filter_is_imm)
def test_process_filter_computes_probs(self):
self.benchmark.gen_data_set()
self.benchmark.process_filter(with_nees = True)
self.assertEqual(np.shape(self.benchmark.probs), (100,4))