def test_move(self):
# move_to tests
v0, vt = vec.vec([0, 0]), vec.vec([0, 1])
vn, ld = vec.move_to(v0, vt, 1)
self.assertAlmostEqual(ld, 0)
np.testing.assert_almost_equal(vn, vec.vec([0, 1]))
vn, ld = vec.move_to(v0, vt, 0.5)
self.assertAlmostEqual(ld, 0.5)
np.testing.assert_almost_equal(vn, vec.vec([0, 0.5]))
vn, ld = vec.move_to(v0, vt, 2)
self.assertAlmostEqual(ld, -1)
np.testing.assert_almost_equal(vn, vec.vec([0, 1]))
# move_step tests
v0, vt = vec.vec([0, 1]), vec.vec([0, 2])
vn, ld = vec.move_step(v0, vt, 1)
self.assertAlmostEqual(ld, 0)
np.testing.assert_almost_equal(vn, vec.vec([0, 1]))
vn, ld = vec.move_step(v0, vt, 0.5)
self.assertAlmostEqual(ld, 0.5)
np.testing.assert_almost_equal(vn, vec.vec([0, 0.5]))
vn, ld = vec.move_step(v0, vt, 2)
self.assertAlmostEqual(ld, -1)
np.testing.assert_almost_equal(vn, vec.vec([0, 1]))
def test_mat_ae(self):
""" 测试 mat_ae """
v = vec.vec([0, 1, 0])
m = move.mat_ae([0, 0])
v2 = vec.trans(v, m)
np.testing.assert_almost_equal(v2, vec.vec([0, 1, 0]))
m = move.mat_ae([90, 0])
v2 = vec.trans(v, m)
np.testing.assert_almost_equal(v2, vec.vec([-1, 0, 0]))
m = move.mat_ae([180, 0])
v2 = vec.trans(v, m)
np.testing.assert_almost_equal(v2, vec.vec([0, -1, 0]))
m = move.mat_ae([270, 0])
v2 = vec.trans(v, m)
np.testing.assert_almost_equal(v2, vec.vec([1, 0, 0]))
""" 测试俯仰. """
v = vec.vec([0, 2**0.5, 0])
m = move.mat_ae([0, -45])
v2 = vec.trans(v, m)
np.testing.assert_almost_equal(v2, vec.vec([0, 1, 1]))
m = move.mat_ae([0, 45])
v2 = vec.trans(v, m)
np.testing.assert_almost_equal(v2, vec.vec([0, 1, -1]))
""" 综合测试. """
v = vec.vec([0, 2**0.5, 0])
m = move.mat_ae([90, 45])
np.testing.assert_almost_equal(v2, vec.vec([-1, 0, -1]))
def draw_radar(painter, radar):
if radar.is_active():
color = (255, 0, 0)
painter.rect((radar.position[0], radar.position[1]), color, 4)
for _, ret in radar.results.items():
d, a = ret[1]
pt = radar.position + vec.vec([d * math.cos(a), d * math.sin(a)])
painter.rect(pt, color, 1)
def access(self, others):
assert self.parent
f0 = vec([0, 0])
_, dt = self.parent.env.time_info
for obj in others:
r = dist(self.parent.pos, obj.pos)
f = unit(obj.pos - self.parent.pos) * G * obj.m / (r ** 2)
f0 = f0 + f
self.parent.vel += f0 * dt
def test_mat_a(self):
v = vec.vec([0, 1])
m = move.mat_a(00)
v2 = vec.trans(v, m)
np.testing.assert_almost_equal(v2, vec.vec([0, 1]))
m = move.mat_a(90)
v2 = vec.trans(v, m)
np.testing.assert_almost_equal(v2, vec.vec([-1, 0]))
m = move.mat_a(180)
v2 = vec.trans(v, m)
np.testing.assert_almost_equal(v2, vec.vec([0, -1]))
m = move.mat_a(270)
v2 = vec.trans(v, m)
np.testing.assert_almost_equal(v2, vec.vec([1, 0]))
def test_move_to(self):
""" 测试移动函数.
1. move_to
"""
pt0 = vec.vec([0, 0])
pt1 = vec.vec([0, 1])
pt2, d = move.move_to(pt0, pt1, 0.5)
np.testing.assert_almost_equal(pt2, vec.vec([0, 0.5]))
self.assertAlmostEqual(d, 0.5)
pt2, d = move.move_to(pt0, pt1, 1)
np.testing.assert_almost_equal(pt2, vec.vec([0, 1]))
self.assertAlmostEqual(d, 0)
pt2, d = move.move_to(pt0, pt1, 1.5)
np.testing.assert_almost_equal(pt2, vec.vec([0, 1]))
self.assertAlmostEqual(d, -0.5)
def test_create(self):
radar = Radar()
self.assertTrue(radar is not None)
radar = Radar(pos=[1, 1])
np.testing.assert_almost_equal(radar.position, vec.vec([1, 1]))
radar.set_params(search_dt=2.0, track_dt=2.0)
self.assertAlmostEqual(radar.search_dt, 2.0)
self.assertAlmostEqual(radar.track_dt, 2.0)
def test_sim_clock(self):
""" 测试仿真时钟. """
# 测试默认构造
clock = SimClock()
self.assertAlmostEqual(clock.start, 0.0)
self.assertAlmostEqual(clock.end, 10.0)
self.assertAlmostEqual(clock.dt, 0.1)
self.assertAlmostEqual(clock.now, 0.0)
# 测试定制构造
clock = SimClock(start=1.0, end=20.0, step=0.5)
self.assertAlmostEqual(clock.start, 1.0)
self.assertAlmostEqual(clock.end, 20.0)
self.assertAlmostEqual(clock.dt, 0.5)
self.assertAlmostEqual(clock.now, 1.0)
# 测试默认构造下方法.
clock = SimClock()
np.testing.assert_almost_equal(
vec.vec(clock.info()), vec.vec([0.0, 0.0]))
tt = clock.step()
self.assertTrue(tt == clock.info())
np.testing.assert_almost_equal(
vec.vec(clock.info()), vec.vec([0.1, 0.1]))
while True:
tt = clock.step()
if not tt:
break
self.assertTrue(tt is None)
np.testing.assert_almost_equal(
vec.vec(clock.info()), vec.vec([10.1, 0.1]))
def test_view(self):
fov = Fov()
obj_pos = vec.vec([0, 0, 1])
ret = fov.view(obj_pos, pos=vec.vec([0, 0, 0]), dir_=[0, 0])
self.assertTrue(ret is not None)
print(ret)
obj_pos = vec.vec([1, 0, 1])
ret = fov.view(obj_pos, pos=vec.vec([0, 0, 0]), dir_=[0, 0])
self.assertTrue(ret is not None)
print(ret)
obj_pos = vec.vec([0, 1, 1])
ret = fov.view(obj_pos, pos=vec.vec([0, 0, 0]), dir_=[0, 0])
self.assertTrue(ret is not None)
print(ret)
def test_scenario_run(self):
""" 测试场景运行. """
scene = Scenario()
np.testing.assert_almost_equal(
vec.vec(scene.clock_info), vec.vec([0, 0.]))
time_rec = []
scene.step_handlers.append(
lambda s: time_rec.append(s.clock_info[0]))
tt = scene.step()
self.assertTrue(tt == scene.clock_info)
np.testing.assert_almost_equal(
vec.vec(scene.clock_info), vec.vec([0.1, 0.1]))
scene.run()
np.testing.assert_almost_equal(
vec.vec(scene.clock_info), vec.vec([10.1, 0.1]))
self.assertAlmostEqual(time_rec[0], 0.0)
self.assertAlmostEqual(time_rec[-1], 10.0)
def __init__(self, **kwargs):
super().__init__(**kwargs)
self.position = vec.vec(kwargs['pos'])
self.rcs = 0.1
def test_create(self):
jammer = Jammer()
self.assertTrue(jammer is not None)
jammer = Jammer(pos=[1, 1])
np.testing.assert_almost_equal(jammer.position, vec.vec([1, 1]))
def test_basic(self):
# 测试 dist
v1, v2, v3 = vec.vec([0, 0]), vec.vec([1, 1]), vec.vec([-1, -1])
self.assertAlmostEqual(vec.dist(v1), 0.0)
self.assertAlmostEqual(vec.dist(v2), 2**0.5)
self.assertAlmostEqual(vec.dist(v3), 2**0.5)
self.assertAlmostEqual(vec.dist(v1, v2), 2**0.5)
self.assertAlmostEqual(vec.dist(v2, v3), 2 * (2**0.5))
# 测试 unit
v = vec.unit(vec.vec([0, 2]))
np.testing.assert_almost_equal(v, vec.vec([0, 1]))
v = vec.unit(vec.vec([0, 0.2]))
np.testing.assert_almost_equal(v, vec.vec([0, 1]))
v = vec.unit(vec.vec([0, 0]))
np.testing.assert_almost_equal(v, vec.vec([0, 0]))
# 测试 zeros_like
v = vec.zeros_like(vec.vec([2]))
np.testing.assert_almost_equal(v, vec.vec([0]))
v = vec.zeros_like(vec.vec([0, 2]))
np.testing.assert_almost_equal(v, vec.vec([0, 0]))
v = vec.zeros_like(vec.vec([0, 2, 3]))
np.testing.assert_almost_equal(v, vec.vec([0, 0, 0]))
def test_xyz_aer(self):
""" 测试 XYZ 和 AER 之间的坐标转换.
1.xyz_to_aer
2.aer_to_xyz
"""
xyz = vec.vec([1, 0, 0])
aer = move.xyz_to_aer(xyz)
np.testing.assert_almost_equal(aer, vec.vec([90, 0, 1]))
xyz2 = move.aer_to_xyz(aer)
np.testing.assert_almost_equal(xyz, xyz2)
xyz = vec.vec([0, 1, 0])
aer = move.xyz_to_aer(xyz)
np.testing.assert_almost_equal(aer, vec.vec([0, 0, 1]))
xyz2 = move.aer_to_xyz(aer)
np.testing.assert_almost_equal(xyz, xyz2)
xyz = vec.vec([-1, 0, 0])
aer = move.xyz_to_aer(xyz)
np.testing.assert_almost_equal(aer, vec.vec([270, 0, 1]))
xyz2 = move.aer_to_xyz(aer)
np.testing.assert_almost_equal(xyz, xyz2)
xyz = vec.vec([0, 1, 1])
aer = move.xyz_to_aer(xyz)
np.testing.assert_almost_equal(aer, vec.vec([0, 45, 2**0.5]))
xyz2 = move.aer_to_xyz(aer)
np.testing.assert_almost_equal(xyz, xyz2)
xyz = vec.vec([0, 1, -1])
aer = move.xyz_to_aer(xyz)
np.testing.assert_almost_equal(aer, vec.vec([0, -45, 2**0.5]))
xyz2 = move.aer_to_xyz(aer)
np.testing.assert_almost_equal(xyz, xyz2)
xyz = vec.vec([1, 2, 3])
aer = move.xyz_to_aer(xyz, angle='r')
xyz2 = move.aer_to_xyz(aer, angle='r')
np.testing.assert_almost_equal(xyz, xyz2)
aer = move.xyz_to_aer(xyz, angle='d')
xyz2 = move.aer_to_xyz(aer, angle='d')
np.testing.assert_almost_equal(xyz, xyz2)
def __init__(self):
self.target = vec.vec([50., 0.])
self.pos = None
self.vel = None
def test_detect(self):
radar = Radar()
uav = Target(pos=vec.vec([50, 50]))
ret = radar.detect(uav)
self.assertAlmostEqual(ret[0], 50 * 2 ** 0.5)
def encode_state(self, scene):
""" 把场景翻译为输入."""
jammer, uav = scene.find('jammer'), scene.find('target')
d = vec.dist(uav.position, jammer.position)
s = vec.dist(uav.velocity)
return vec.vec([d, s])