示例#1
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def test_domain_random():
    carDomain = Struct({
        'position': Box([-10, 10], [-10, 10], [0, 1]),
        'heading': Box([0, math.pi]),
    })
    domain = Array(carDomain, (2, 2))
    sampler = RandomSampler(domain)

    def check(samples):
        for sample in samples:
            assert type(sample) is tuple
            assert len(sample) == 2
            for row in sample:
                assert type(row) is tuple
                assert len(row) == 2
                for car in row:
                    assert type(car) is carDomain.makePoint
                    position = car.position
                    assert type(position) is tuple
                    assert len(position) == 3
                    heading = car.heading
                    assert type(heading) is tuple
                    assert len(heading) == 1
        assert any(sample[0][0].position[0] > sample[1][1].position[0]
                   for sample in samples)
        assert any(sample[0][0].position[0] < sample[1][1].position[0]
                   for sample in samples)

    check([sampler.nextSample() for i in range(100)])
    check(list(itertools.islice(sampler, 100)))
示例#2
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def test_random_restore(tmpdir):
    space = FeatureSpace({
        'a':
        Feature(DiscreteBox([0, 12])),
        'b':
        Feature(Box((0, 1)), lengthDomain=DiscreteBox((0, 2)))
    })
    sampler = FeatureSampler.randomSamplerFor(space)

    path = os.path.join(tmpdir, 'blah.dat')
    sampler.saveToFile(path)
    sample1 = sampler.nextSample()
    sampler = FeatureSampler.restoreFromFile(path)
    sample2 = sampler.nextSample()
    assert sample1 == sample2
示例#3
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def test_space_random():
    space = FeatureSpace({
        'a':
        Feature(DiscreteBox([0, 12])),
        'b':
        Feature(Box((0, 1)), lengthDomain=DiscreteBox((0, 2)))
    })
    sampler = FeatureSampler.randomSamplerFor(space)

    def check(samples):
        for sample in samples:
            assert type(sample) is space.makePoint
            a = sample.a
            assert type(a) is tuple
            assert len(a) == 1
            assert type(a[0]) is int
            assert 0 <= a[0] <= 12
            b = sample.b
            assert type(b) is tuple
            l = len(b)
            assert 0 <= l <= 2
            if l > 0:
                assert type(b[0]) is tuple
                assert len(b[0]) == 1
                assert 0 <= b[0][0] <= 1
            if l > 1:
                assert type(b[1]) is tuple
                assert len(b[1]) == 1
                assert 0 <= b[1][0] <= 1
        assert any(sample.a[0] > 6 for sample in samples)
        assert any(sample.a[0] < 6 for sample in samples)
        assert any(len(sample.b) == 0 for sample in samples)
        assert any(len(sample.b) == 1 for sample in samples)
        assert any(len(sample.b) == 2 for sample in samples)

    check([sampler.nextSample() for i in range(100)])
    check(list(itertools.islice(sampler, 100)))
示例#4
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from scenic.simulators.utils.colors import Color
from scenic.simulators.gta.interface import CarModel as GTACarModel
from scenic.simulators.webots.road.car_models import (CarModel as
                                                      WebotsCarModel, carModels
                                                      as webotsCarModels)

from verifai.features import (Constant, Categorical, Real, Box, Array, Struct,
                              Feature, FeatureSpace)
from verifai.samplers.feature_sampler import FeatureSampler
from verifai.utils.frozendict import frozendict

scalarDomain = Real()
vectorDomain = Array(scalarDomain, (2, ))
gtaModelDomain = Categorical(*GTACarModel.models.values())
webotsModelDomain = Categorical(*webotsCarModels)
colorDomain = Box((0, 1), (0, 1), (0, 1))


def convertToVerifaiType(value, strict=True):
    """Attempt to convert a Scenic value to a type known to VerifAI"""
    ty = underlyingType(value)
    if ty is float or ty is int:
        return float(value)
    elif ty is list or ty is tuple:
        return tuple(convertToVerifaiType(e, strict=strict) for e in value)
    elif issubclass(ty, dict) and not needsSampling(value):
        return frozendict(value)
    elif ty is GTACarModel:
        return value
    elif ty is WebotsCarModel:
        return value