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TESTparticlefilter.py
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TESTparticlefilter.py
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import unittest
import particlefilter as pf
import random
import numpy as np
import math
import scipy.stats as ss
class TestResample(unittest.TestCase):
def test_zeroWeights(self):
w = [1, 0, 0, 0, 0]
p = pf.generateRandomParticles(5)
resampled = pf.resample(w, p)
for i in resampled:
print(i)
self.assertEqual(i, p[0])
def test_randomPercent(self):
num = 4
randPercent = [random.random()]
b = (1.0 - randPercent[0]) / (num-1)
restofparticles = [b for i in range(num)]
w = randPercent + restofparticles
p = pf.generateRandomParticles(num)
count = 0
N = 1000
for i in range(N):
resampled = pf.resample(w, p)
count += resampled.count(p[0])
percent = count / (N * num)
self.assertWithinx(percent, randPercent[0], 0.02)
def assertWithinx(self, a, b, x):
return self.assertTrue(a + x > b and a - x < b)
class TestWeights(unittest.TestCase):
def test_zeroPos(self):
num = 10
robot = pf.Robot()
robot.setPose(0.0001,0.001,1,1,1,1)
p = [robot for i in range(num)]
measurement = robot.senseUltrasonic()
weight = pf.weight(p, measurement)
self.assertEqual([float('%.8f' % i) for i in weight], [(1.0/num) for i in range(num)])
def test_sum(self):
num = 10
p = pf.generateRandomParticles(num)
measurement = p[np.random.randint(0, len(p)-1)].senseNoiseUltrasonic()
weight = pf.weight(p, measurement)
cumsum = np.array(weight).cumsum()[num-1]
self.assertWithinx(cumsum, 1.0, 0.000000001)
def test_weighting(self):
num = 5
r = pf.Robot()
p = pf.generateRandomParticles(num) + [r]
for i in p:
print(i)
measurement = r.senseNoiseUltrasonic()
weight = pf.weight(p, measurement)
print(weight)
self.assertAismaxinList(weight[5], weight)
def assertWithinx(self, a, b, x):
return self.assertTrue(a + x > b and a - x < b)
def assertAismaxinList(self, a, list):
max = np.max(np.array(list))
print(max)
print(a)
return self.assertTrue(max == a)
class TestRobot(unittest.TestCase):
def test_setPose(self):
x = random.random() * 100
y = random.random() * 200
velox = random.random() * 10
veloy = random.random() * 10
angpos = random.random() * 2 * math.pi
angvelo = random.random() * 10
robot = pf.Robot()
robot.setPose(x, y, velox, veloy, angpos, angvelo)
self.assertEqual(robot.pose['x'], x)
self.assertEqual(robot.pose['y'], y)
self.assertEqual(robot.pose['velox'], velox)
self.assertEqual(robot.pose['veloy'], veloy)
self.assertEqual(robot.pose['angpos'], angpos)
self.assertEqual(robot.pose['angvelo'], angvelo)
def test_senseUltrasonic_1(self):
robot = pf.Robot()
measurement = robot.senseUltrasonic()
self.assertEqual(measurement, [70.71067811865474 for i in range(4)])
def test_senseUltrasonic_Quad1(self):
robot = pf.Robot()
x = random.random() * robot.fieldwidth
y = random.random() * robot.fieldheight
angpos = random.random() * math.pi * 0.5
robot.setPose(x, y, 0, 0, angpos, 0)
measurement = robot.senseUltrasonic()
check = 0
if math.tan(angpos) * (robot.fieldheight - y) <= x:
check = (robot.fieldheight - y) / math.cos(angpos)
else:
check = x / math.cos(math.pi * 0.5 - angpos)
self.assertEqual(measurement[0], check)
def test_senseUltrasonic_Quad2(self):
robot = pf.Robot()
x = random.random() * robot.fieldwidth
y = random.random() * robot.fieldheight
angpos = random.random() * math.pi * 0.5 + math.pi * 0.5
robot.setPose(x, y, 0, 0, angpos, 0)
measurement = robot.senseUltrasonic()
check = 0
if y / math.tan(angpos - math.pi * 0.5) <= x:
check = y / math.sin(angpos - math.pi * 0.5)
else:
check = x / math.cos(angpos - math.pi * 0.5)
self.assertEqual(measurement[0], check)
def test_senseUltrasonic_Quad3(self):
robot = pf.Robot()
x = random.random() * robot.fieldwidth
y = random.random() * robot.fieldheight
angpos = random.random() * math.pi * 0.5 + 2 * math.pi * 0.5
robot.setPose(x, y, 0, 0, angpos, 0)
measurement = robot.senseUltrasonic()
check = 0
if y * math.tan(angpos - 2 * math.pi * 0.5) <= robot.fieldwidth - x:
check = y / math.cos(angpos - 2 * math.pi * 0.5)
else:
check = (robot.fieldwidth - x) / math.cos(3 * math.pi * 0.5 - angpos)
self.assertWithinx(measurement[0], check, 0.000000001)
def test_senseUltrasonic_Quad4(self):
robot = pf.Robot()
x = random.random() * robot.fieldwidth
y = random.random() * robot.fieldheight
angpos = random.random() * math.pi * 0.5 + 3 * math.pi * 0.5
robot.setPose(x, y, 0, 0, angpos, 0)
measurement = robot.senseUltrasonic()
check = 0
if (robot.fieldheight - y) / math.tan(angpos - 3 * math.pi * 0.5) <= robot.fieldwidth - x:
check = (robot.fieldheight - y) / math.sin(angpos - 3 * math.pi * 0.5)
else:
check = (robot.fieldwidth - x) / math.cos(angpos - 3 * math.pi * 0.5)
self.assertWithinx(measurement[0], check, 0.000000001)
def test_probMeasurement(self):
robot = pf.Robot()
x = random.random() * robot.fieldwidth
y = random.random() * robot.fieldheight
angpos = random.random() * math.pi * 2
robot.setPose(x, y, 0, 0, angpos, 0)
measurement = robot.senseUltrasonic()
noise = robot.lengthnoise
check = np.average(np.array([robot.logofnormpdf(measurement[i], measurement[i], noise) for i in range(4)]))
self.assertEqual(robot.prob_measurement(measurement), check)
def test_logofPdf(self):
robot = pf.Robot()
x = 2
mu = 0
sigma = 3
check = math.log(ss.norm.pdf(x, mu, sigma))
self.assertEqual(robot.logofnormpdf(x, mu, sigma), check)
def assertWithinx(self, a, b, x):
return self.assertTrue(a + x > b and a - x < b)
def test_Random(self):
r = pf.Robot()
r.setPose(5, 0, 0, 0, 0.25 * math.pi, 0)
measurement = r.senseUltrasonic()
print(measurement)
print(pf.Robot().prob_measurement(measurement))
def test_genRandomParticles(self):
num = 50
p = pf.generateRandomParticles(num)
minx = p[0].fieldwidth
miny = p[0].fieldheight
maxx = 0
maxy = 0
for i in p:
if i.pose['x'] < minx:
minx = i.pose['x']
if i.pose['y'] < miny:
miny = i.pose['y']
if i.pose['x'] > maxx:
maxx = i.pose['x']
if i.pose['y'] > maxy:
maxy = i.pose['y']
print("\n", "particles generated between: ", minx, "and ", maxx, " in the x dimension")
print("particles generated between: ", miny, "and ", maxy, " in the y dimension")
if __name__ == '__main__':
unittest.main()