def test_dataset4(self):
# ARRANGE
measurements = [[2., 17.], [0., 15.], [2., 13.], [0., 11.]]
initial_xy = [1., 19.]
expected_x = matrix([[0.73342219260246477], [11.002665778073975], [-0.66644451849384057], [-19.993335554815054]])
expected_P = matrix([[0.053315561479506911, 0.0, 0.13328890369876803, 0.0], [0.0, 0.053315561479506911, 0.0, 0.13328890369876803], [0.13328890369876789, 0.0, 0.33322225924692717, 0.0], [0.0, 0.13328890369876789, 0.0, 0.333222259246027171]])
# ACT
x, P = task.calculate(measurements, initial_xy)
# ASSERT
self.assertArrayAlmostEquals(expected_x.value, x.value)
self.assertArrayAlmostEquals(expected_P.value, P.value)
def test_dataset1(self):
# ARRANGE
measurements = [[5., 10.], [6., 8.], [7., 6.], [8., 4.], [9., 2.], [10., 0.]]
initial_xy = [4., 12.]
expected_x = matrix([[9.9993407317877168],[0.001318536424568617],[9.9989012196461928],[-19.997802439292386]])
expected_P = matrix([[0.039556092737061982, 0.0, 0.06592682122843721, 0.0], [0.0, 0.039556092737061982, 0.0, 0.06592682122843721], [0.065926821228437182, 0.0, 0.10987803538073201, 0.0], [0.0, 0.065926821228437182, 0.0, 0.10987803538073201]])
# ACT
x, P = task.calculate(measurements, initial_xy)
# ASSERT
self.assertArrayAlmostEquals(expected_x.value, x.value)
self.assertArrayAlmostEquals(expected_P.value, P.value)
def test_dataset2(self):
# ARRANGE
measurements = [[1., 4.], [6., 0.], [11., -4.], [16., -8.]]
initial_xy = [-4., 8.]
expected_x = matrix([[15.993335554815062], [-7.9946684438520501], [49.983338887037647], [-39.986671109630123]])
# ACT
x, P = task.calculate(measurements, initial_xy)
# ASSERT
self.assertArrayAlmostEquals(expected_x.value, x.value)
from math import *
import random
import task
# -----------
# Test Case 1
testdata1 = [[[[1, 21.796713239511305, 25.32184135169971], [2, 15.067410969755826, -27.599928007267906]], [16.4522379034509, -11.372065246394495]],
[[[1, 6.1286996178786755, 35.70844618389858], [2, -0.7470113490937167, -17.709326161950294]], [16.4522379034509, -11.372065246394495]],
[[[0, 16.305692184072235, -11.72765549112342], [2, -17.49244296888888, -5.371360408288514]], [16.4522379034509, -11.372065246394495]],
[[[0, -0.6443452578030207, -2.542378369361001], [2, -32.17857547483552, 6.778675958806988]], [-16.66697847355152, 11.054945886894709]]]
answer_mu1 = task.matrix([[81.63549976607898],
[27.175270706192254],
[98.09737507003692],
[14.556272940621195],
[71.97926631050574],
[75.07644206765099],
[65.30397603859097],
[22.150809430682695]])
answer_omega1 = task.matrix([[0.36603773584905663, 0.0, -0.169811320754717, 0.0, -0.011320754716981133, 0.0, -0.1811320754716981, 0.0],
[0.0, 0.36603773584905663, 0.0, -0.169811320754717, 0.0, -0.011320754716981133, 0.0, -0.1811320754716981],
[-0.169811320754717, 0.0, 0.6509433962264151, 0.0, -0.05660377358490567, 0.0, -0.40566037735849064, 0.0],
[0.0, -0.169811320754717, 0.0, 0.6509433962264151, 0.0, -0.05660377358490567, 0.0, -0.40566037735849064],
[-0.011320754716981133, 0.0, -0.05660377358490567, 0.0, 0.6962264150943396, 0.0, -0.360377358490566, 0.0],
[0.0, -0.011320754716981133, 0.0, -0.05660377358490567, 0.0, 0.6962264150943396, 0.0, -0.360377358490566],
[-0.1811320754716981, 0.0, -0.4056603773584906, 0.0, -0.360377358490566, 0.0, 1.2339622641509433, 0.0],
[0.0, -0.1811320754716981, 0.0, -0.4056603773584906, 0.0, -0.360377358490566, 0.0, 1.2339622641509433]])
# -----------
# Test Case 2
