def test_OccupancyMap():
world = gnssShadowing.World("data/2017-03-28.tle", "data/uni.obj",
"Building")
planeLevels = gnssShadowing.PlaneLevelList()
planeLevels.extend([56.0])
width_m = 800
height_m = 400
res_x = res_y = 2.0
width = (int)(width_m / res_x)
height = (int)(height_m / res_y)
min_x = -width_m / 2.
min_y = -height_m / 2.
mapProperties = gnssShadowing.MapProperties(min_x, min_y, width, height,
res_x, res_y, planeLevels)
minimumElevation = gnssShadowing.deg2rad(5)
mapper = gnssShadowing.Mapper(world, mapProperties, minimumElevation)
occupancyMap = mapper.m_occupancyMap
z = 0 # planeLevelIndex
sumOccupied = 0
for x in range(0, width):
for y in range(0, height):
if occupancyMap.isOccupied(x, y, z):
sumOccupied += 1
assert sumOccupied == 7557
npMap = occupancyMap.getMapForLevel(z)
assert type(npMap) == np.ndarray
assert npMap.sum() == sumOccupied
def test_MapProblem():
world = gnssShadowing.World("data/2017-03-28.tle", "data/uni.obj",
"Building")
planeLevels = gnssShadowing.PlaneLevelList()
planeLevels.extend([56.0])
width_m = 800
height_m = 400
res_x = res_y = 10.0
width = (int)(width_m / res_x)
height = (int)(height_m / res_y)
min_x = -width_m / 2.
min_y = -height_m / 2.
mapProperties = gnssShadowing.MapProperties(min_x, min_y, width, height,
res_x, res_y, planeLevels)
minimumElevation = gnssShadowing.deg2rad(5)
mapper = gnssShadowing.Mapper(world, mapProperties, minimumElevation)
dopMap = mapper.computeDOPMap(
gnssShadowing.mkSeconds(2017, 3, 28, 12, 0, 0))
maxHorizontalDOP = 5
start = gnssShadowing.MapNode(0, 0)
target = gnssShadowing.MapNode(1, 1)
problem = gnssShadowing.MapProblem(maxHorizontalDOP, dopMap, start, target)
assert type(problem.m_map) == gnssShadowing.DOPMap
assert type(problem.m_maxHorizontalDOP) == float
assert problem.targetReached(target) == True
assert problem.targetReached(start) == False
problem.computeCost(start, target)
neighbors = problem.computeNeighbors(start)
assert type(neighbors) == gnssShadowing.MapNodeList
problem.computeHeuristic(start)
def test_MapProblemSolver():
world = gnssShadowing.World("data/2017-03-28.tle", "data/uni.obj",
"Building")
planeLevels = gnssShadowing.PlaneLevelList()
planeLevels.extend([56.0])
width_m = 800
height_m = 400
res_x = res_y = 10.0
width = (int)(width_m / res_x)
height = (int)(height_m / res_y)
min_x = -width_m / 2.
min_y = -height_m / 2.
mapProperties = gnssShadowing.MapProperties(min_x, min_y, width, height,
res_x, res_y, planeLevels)
minimumElevation = gnssShadowing.deg2rad(5)
mapper = gnssShadowing.Mapper(world, mapProperties, minimumElevation)
dopMap = mapper.computeDOPMap(
gnssShadowing.mkSeconds(2017, 3, 28, 12, 0, 0))
maxHorizontalDOP = 5
start = gnssShadowing.MapNode(0, 0)
target = gnssShadowing.MapNode(1, 1)
problem = gnssShadowing.MapProblem(maxHorizontalDOP, dopMap, start, target)
solver = gnssShadowing.MapProblemSolver()
path = solver.findShortestPath(problem)
assert type(path) == gnssShadowing.MapNodeList
assert path.size() == 3
assert path.at(0).x == start.x
assert path.at(0).y == start.y
assert path.at(path.size() - 1).x == target.x
assert path.at(path.size() - 1).y == target.y
def test_MapTimeProblem():
world = gnssShadowing.World("data/2017-03-28.tle", "data/uni.obj",
"Building")
planeLevels = gnssShadowing.PlaneLevelList()
planeLevels.extend([56.0])
width_m = 800
height_m = 400
res_x = res_y = 10.0
width = (int)(width_m / res_x)
height = (int)(height_m / res_y)
min_x = -width_m / 2.
min_y = -height_m / 2.
mapProperties = gnssShadowing.MapProperties(min_x, min_y, width, height,
res_x, res_y, planeLevels)
minimumElevation = gnssShadowing.deg2rad(5)
time = gnssShadowing.mkSeconds(2017, 3, 28, 12, 0, 0)
timePerStep = 5 # in seconds
mapper = gnssShadowing.MapperLazyTimesteps(world, mapProperties, time,
timePerStep, minimumElevation)
maxHorizontalDOP = 5
start = gnssShadowing.MapTimeNode(0, gnssShadowing.MapNode(0, 0))
target = gnssShadowing.MapTimeNode(0, gnssShadowing.MapNode(1, 1))
maxHorizontalDOP = 5.
costPerHorizontalDOP = 1.
costPerGridStep = 1.
costPerTimeStep = 1.
costPerTimeTotal = 0.
timeStepsPerStep = 1
problem = gnssShadowing.MapTimeProblem(maxHorizontalDOP,
costPerHorizontalDOP,
costPerGridStep, costPerTimeStep,
costPerTimeTotal, timeStepsPerStep,
mapper, start, target)
assert type(problem.m_maps) == gnssShadowing.MapperLazyTimesteps
assert type(problem.m_maxHorizontalDOP) == float
assert type(problem.m_costPerHorizontalDOP) == float
assert type(problem.m_costPerGridStep) == float
assert type(problem.m_costPerTimeStep) == float
assert type(problem.m_costPerTimeTotal) == float
assert type(problem.m_timeStepsPerStep) == int
assert problem.targetReached(target) == True
assert problem.targetReached(start) == False
problem.computeCost(start, target)
neighbors = problem.computeNeighbors(start)
assert type(neighbors) == gnssShadowing.MapTimeNodeList
problem.computeHeuristic(start)
def test_Shadowing():
world = gnssShadowing.World("data/current.tle", "data/uni.obj", "Building")
shadowing = world.m_shadowing
now = gnssShadowing.unixTimeInSeconds()
horizontal = world.m_satStore.getSat(0).findECEF(now).toENU(
world.m_origin).toHorizontal()
transformation = shadowing.computeTransformation(horizontal)
assert type(transformation) == gnssShadowing.Transformation
contour1 = shadowing.computeContourFromTransformation(transformation)
assert type(contour1) == gnssShadowing.Contour
contour2 = shadowing.computeContourFromHorizontal(horizontal)
assert type(contour2) == gnssShadowing.Contour
planeLevel = 0
eps = 1e-3
vol = shadowing.computeShadowVolume(contour1, transformation, planeLevel,
eps)
assert type(vol) == gnssShadowing.ShadowVolume
def test_Mapper():
world = gnssShadowing.World("data/2017-03-28.tle", "data/uni.obj",
"Building")
planeLevels = gnssShadowing.PlaneLevelList()
planeLevels.extend([56.0])
min_x = 10.0
min_y = 20.0
width = 5
height = 3
res_x = res_y = 2.0
mapProperties = gnssShadowing.MapProperties(min_x, min_y, width, height,
res_x, res_y, planeLevels)
minimumElevation = gnssShadowing.deg2rad(5)
mapper = gnssShadowing.Mapper(world, mapProperties, minimumElevation)
assert type(mapper.m_world) == gnssShadowing.World
assert type(mapper.m_sats) == gnssShadowing.AvailableSats
assert type(mapper.m_mapProperties) == gnssShadowing.MapProperties
assert type(mapper.m_occupancyMap) == gnssShadowing.OccupancyMap
assert type(mapper.m_visibilityMap) == gnssShadowing.VisibilityMap
assert type(mapper.m_dopMap) == gnssShadowing.DOPMap
# not initialized yet
assert mapper.m_sats.getNumSats() == 0
mapper.updateSats(gnssShadowing.mkSeconds(2017, 3, 28, 12, 0, 0))
assert mapper.m_sats.getNumSats() == 21
# not initialized yet
sumVisible = 0
z = 0
for x in range(0, width):
for y in range(0, height):
sumVisible += mapper.m_visibilityMap.getItem(x, y, z).size()
assert sumVisible == 0
# not initialized yet
hdop = mapper.m_dopMap.getHDOPMap(z)
sumNotInvalidHDOP = 0
for x in range(0, width):
for y in range(0, height):
if mapper.m_dopMap.getItem(x, y, z).getHorizontal() != -1:
sumNotInvalidHDOP += 1
assert np.sum(hdop != -1) == 0
assert sumNotInvalidHDOP == 0
def test_DOPMap():
world = gnssShadowing.World("data/2017-03-28.tle", "data/uni.obj",
"Building")
planeLevels = gnssShadowing.PlaneLevelList()
planeLevels.extend([56.0])
width_m = 800
height_m = 400
res_x = res_y = 2.0
width = (int)(width_m / res_x)
height = (int)(height_m / res_y)
min_x = -width_m / 2.
min_y = -height_m / 2.
mapProperties = gnssShadowing.MapProperties(min_x, min_y, width, height,
res_x, res_y, planeLevels)
minimumElevation = gnssShadowing.deg2rad(5)
mapper = gnssShadowing.Mapper(world, mapProperties, minimumElevation)
dopMap = mapper.computeDOPMap(
gnssShadowing.mkSeconds(2017, 3, 28, 12, 0, 0))
z = 0
hdop = mapper.m_dopMap.getHDOPMap(z)
assert type(hdop) == np.ndarray
sumNotInvalidHDOP = 0
for x in range(0, width):
for y in range(0, height):
if mapper.m_dopMap.getItem(x, y, z).getHorizontal() != -1:
sumNotInvalidHDOP += 1
assert np.sum(hdop != -1) == 79859
assert sumNotInvalidHDOP == 79859
hdop = dopMap.getHDOPMap(z)
sumNotInvalidHDOP = 0
for x in range(0, width):
for y in range(0, height):
if dopMap.getItem(x, y, z).getHorizontal() != -1:
sumNotInvalidHDOP += 1
assert np.sum(hdop != -1) == 79859
assert sumNotInvalidHDOP == 79859
sumHDOP = 0
for x in range(0, width):
for y in range(0, height):
sumHDOP += mapper.m_dopMap.getItem(x, y, z).getHorizontal()
assert int(sumHDOP * 10) == 526101
assert int(np.sum(hdop)) == int(sumHDOP)
def test_MapTimeProblemSolver():
world = gnssShadowing.World("data/2017-03-28.tle", "data/uni.obj",
"Building")
planeLevels = gnssShadowing.PlaneLevelList()
planeLevels.extend([56.0])
width_m = 800
height_m = 400
res_x = res_y = 10.0
width = (int)(width_m / res_x)
height = (int)(height_m / res_y)
min_x = -width_m / 2.
min_y = -height_m / 2.
mapProperties = gnssShadowing.MapProperties(min_x, min_y, width, height,
res_x, res_y, planeLevels)
minimumElevation = gnssShadowing.deg2rad(5)
time = gnssShadowing.mkSeconds(2017, 3, 28, 12, 0, 0)
timePerStep = 5 # in seconds
mapper = gnssShadowing.MapperLazyTimesteps(world, mapProperties, time,
timePerStep, minimumElevation)
maxHorizontalDOP = 5
start = gnssShadowing.MapTimeNode(0, gnssShadowing.MapNode(0, 0))
target = gnssShadowing.MapTimeNode(0, gnssShadowing.MapNode(1, 1))
maxHorizontalDOP = 5.
costPerHorizontalDOP = 1.
costPerGridStep = 1.
costPerTimeStep = 1.
costPerTimeTotal = 0.
timeStepsPerStep = 1
problem = gnssShadowing.MapTimeProblem(maxHorizontalDOP,
costPerHorizontalDOP,
costPerGridStep, costPerTimeStep,
costPerTimeTotal, timeStepsPerStep,
mapper, start, target)
solver = gnssShadowing.MapTimeProblemSolver()
path = solver.findShortestPath(problem)
assert type(path) == gnssShadowing.MapTimeNodeList
assert path.size() == 3
assert path.at(0).position.x == start.position.x
assert path.at(0).position.y == start.position.y
assert path.at(path.size() - 1).position.x == target.position.x
assert path.at(path.size() - 1).position.y == target.position.y
def test_ShadowMap():
world = gnssShadowing.World("data/2017-03-28.tle", "data/uni.obj",
"Building")
shadowing = world.m_shadowing
now = gnssShadowing.mkSeconds(2017, 3, 28, 12, 0, 0)
idx = 57
horizontal = world.m_satStore.getSat(idx).findECEF(now).toENU(
world.m_origin).toHorizontal()
transformation = shadowing.computeTransformation(horizontal)
contour = shadowing.computeContourFromTransformation(transformation)
planeLevel = 0
eps = 1e-3
vol = shadowing.computeShadowVolume(contour, transformation, planeLevel,
eps)
planeLevels = gnssShadowing.PlaneLevelList()
planeLevels.extend([56.0])
min_x = 10.0
min_y = 20.0
width = 5
height = 3
res_x = res_y = 2.0
mapProperties = gnssShadowing.MapProperties(min_x, min_y, width, height,
res_x, res_y, planeLevels)
shadowMap1 = gnssShadowing.ShadowMap(mapProperties)
assert type(shadowMap1.m_properties) == gnssShadowing.MapProperties
z = 0 # planeLevelIndex
for x in range(0, width):
for y in range(0, height):
assert shadowMap1.isShadowed(x, y, z) == False
map1 = shadowMap1.getMapForLevel(0)
assert np.sum(map1 != 0) == 0
shadowMap2 = gnssShadowing.ShadowMap(mapProperties, vol)
map2 = shadowMap2.getMapForLevel(0)
# the reference value (11) was computed for sat #57 in "data/2017-03-28.tle","data/uni.obj" on commit 23e15ee656dcaf805d59ab68965718800f29f1fa
assert np.sum(map2 != 0) == 11
def test_MapCoordinateConverter():
world = gnssShadowing.World("data/2017-03-28.tle", "data/uni.obj",
"Building")
planeLevels = gnssShadowing.PlaneLevelList()
planeLevels.extend([56.0])
width_m = 10
height_m = 10
res_x = res_y = 1.0
width = (int)(width_m / res_x)
height = (int)(height_m / res_y)
min_x = -width_m / 2.
min_y = -height_m / 2.
mapProperties = gnssShadowing.MapProperties(min_x, min_y, width, height,
res_x, res_y, planeLevels)
conv = gnssShadowing.MapCoordinateConverter(mapProperties, world.m_origin)
a = conv.gridCoordinateToGeodetic(gnssShadowing.MapNode(0, 0))
b = conv.geodeticToGridCoordinate(a)
c = conv.geodeticToGridCoordinateF(a)
assert type(a) == gnssShadowing.Geodetic
assert type(b) == gnssShadowing.MapNode
assert type(c) == gnssShadowing.MapNodeF
def test_VisibilityMap():
world = gnssShadowing.World("data/2017-03-28.tle", "data/uni.obj",
"Building")
planeLevels = gnssShadowing.PlaneLevelList()
planeLevels.extend([56.0])
width_m = 800
height_m = 400
res_x = res_y = 2.0
width = (int)(width_m / res_x)
height = (int)(height_m / res_y)
min_x = -width_m / 2.
min_y = -height_m / 2.
mapProperties = gnssShadowing.MapProperties(min_x, min_y, width, height,
res_x, res_y, planeLevels)
minimumElevation = gnssShadowing.deg2rad(5)
mapper = gnssShadowing.Mapper(world, mapProperties, minimumElevation)
mapper.computeDOPMap(gnssShadowing.mkSeconds(2017, 3, 28, 12, 0, 0))
visibilityMap = mapper.m_visibilityMap
sumVisible = 0
z = 0
for x in range(0, width):
for y in range(0, height):
sumVisible += mapper.m_visibilityMap.getItem(x, y, z).size()
assert sumVisible == 1529510