def test_waypoint_visualization_with_ngon_generator_predicted_human(self): # initialize the drone state waypoint_generator = NGonWaypointGenerator(n=6, radius=4) gamma = 0.9 cinematic_controller = CinematicController( waypoint_generator=waypoint_generator, bb_filter_gamma=gamma) cinematic_controller.update_latest_drone_state(DroneState(x=2, y=-3)) cinematic_controller.person_predictor = PolynomialPredictor( poly_degree=2, weight_decay_factor=1) cinematic_controller.update_latest_bbs([BoundingBox((10, 10), (0, 0))]) time.sleep(.001) cinematic_controller.update_latest_bbs([BoundingBox((5, 5), (50, 0))]) time.sleep(.001) cinematic_controller.update_latest_bbs([BoundingBox((2, 2), (50, 0))]) time.sleep(.001) cinematic_controller.update_latest_bbs([BoundingBox((1, 1), (50, 0))]) # initialize the drone waypoints waypoints = cinematic_controller.generate_waypoints() # initialize the person state person_states = cinematic_controller.person_predictor.predict_next_person_state( [2, 4, 6, 8, 10, 15, 20, 25, 30]) # initialize the environment environment = Environment() environment.add_obstacles([[(6, 0), (4, 2), (6, 2)], [(8, -4), (9, -3), (10, -3), (10, -5), (9, -3.5)], [(-6, -2), (-1, -5), (-1, -2)]]) # initialize visualization object and plot viz = WaypointVisualization(waypoints, person_states, environment) viz.plot('plots/moving_target.png')
def test_waypoint_visualization_with_ngon_generator(self): # initialize the drone state waypoint_generator = NGonWaypointGenerator(n=6, radius=4) gamma = 0.9 cinematic_controller = CinematicController( waypoint_generator=waypoint_generator, bb_filter_gamma=gamma) cinematic_controller.update_latest_drone_state(origin_drone_state) cinematic_controller.update_latest_bbs([bb_10_10_0_0]) # initialize the drone waypoints waypoints = cinematic_controller.generate_waypoints() # initialize the person state person_state = PersonState(4, 0) # initialize the environment environment = Environment() environment.add_obstacles([[(6, 0), (4, 2), (6, 2)], [(7, -4), (8, -3), (9, -3), (9, -5), (8, -3.5)], [(-5, -2), (0, -5), (0, -2)]]) # initialize visualization object and plot viz = WaypointVisualization(waypoints, [person_state], environment) viz.plot('plots/test_waypoint_visualization_with_ngon_generator.png') # check that file was saved properly assert os.path.isfile( 'plots/test_waypoint_visualization_with_ngon_generator.png')