def test_random(self):
data = task.make_data(task.N, task.num_landmarks, task.world_size, task.measurement_range, task.motion_noise, task.measurement_noise, task.distance)
result = task.slam(data, task.N, task.num_landmarks, task.motion_noise, task.measurement_noise)
online_result = task.online_slam(data, task.N, task.num_landmarks, task.motion_noise, task.measurement_noise)
mapping = [i - 2 + task.N*2 for i in range(2 * task.num_landmarks)]
e_result = result.take(mapping, [0])
self.compare_matrices(e_result, online_result[0], "mu", 2)
def test_provided2(self):
result = task.online_slam(testdata2, 6, 2, 3.0, 4.0)
self.solution_check(result, answer_mu2, answer_omega2)
def test_provided1(self):
result = task.online_slam(testdata1, 5, 3, 2.0, 2.0)
self.solution_check(result, answer_mu1, answer_omega1)
