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removing global router test for the time being

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germanros1987 2019-03-16 19:35:15 -07:00 committed by nsubiron
parent 011c8be97c
commit 1c3713459c
1 changed files with 0 additions and 101 deletions
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101
PythonAPI/agents/navigation/test_global_route_planner.py
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@ -1,101 +0,0 @@
import math
import unittest
import carla
from global_route_planner import GlobalRoutePlanner
from global_route_planner import NavEnum
from global_route_planner_dao import GlobalRoutePlannerDAO
class Test_GlobalRoutePlanner(unittest.TestCase):
"""
Test class for GlobalRoutePlanner class
"""
def setUp(self):
# == Utilities test instance without DAO == #
self.simple_grp = GlobalRoutePlanner(None)
# == Integration test instance == #
client = carla.Client('localhost', 2000)
world = client.get_world()
integ_dao = GlobalRoutePlannerDAO(world.get_map())
self.integ_grp = GlobalRoutePlanner(integ_dao)
self.integ_grp.setup()
pass
def tearDown(self):
self.simple_grp = None
self.dao_grp = None
self.integ_grp = None
pass
def test_plan_route(self):
"""
Test for GlobalROutePlanner.plan_route()
Run this test with carla server running Town03
"""
plan = self.integ_grp.plan_route((-60, -5), (-77.65, 72.72))
self.assertEqual(
plan, [NavEnum.START, NavEnum.LEFT, NavEnum.LEFT,
NavEnum.GO_STRAIGHT, NavEnum.LEFT, NavEnum.STOP])
def test_path_search(self):
"""
Test for GlobalRoutePlanner.path_search()
Run this test with carla server running Town03
"""
self.integ_grp.path_search((191.947, -5.602), (78.730, -50.091))
self.assertEqual(
self.integ_grp.path_search((196.947, -5.602), (78.730, -50.091)),
[256, 157, 158, 117, 118, 59, 55, 230])
def test_localise(self):
"""
Test for GlobalRoutePlanner.localise()
Run this test with carla server running Town03
"""
x, y = (200, -250)
segment = self.integ_grp.localise(x, y)
self.assertEqual(self.integ_grp._id_map[segment['entry']], 5)
self.assertEqual(self.integ_grp._id_map[segment['exit']], 225)
def test_unit_vector(self):
"""
Test for GlobalROutePlanner.unit_vector()
"""
vector = self.simple_grp.unit_vector((1, 1), (2, 2))
self.assertAlmostEquals(vector[0], 1 / math.sqrt(2))
self.assertAlmostEquals(vector[1], 1 / math.sqrt(2))
def test_dot(self):
"""
Test for GlobalROutePlanner.test_dot()
"""
self.assertAlmostEqual(self.simple_grp.dot((1, 0), (0, 1)), 0)
self.assertAlmostEqual(self.simple_grp.dot((1, 0), (1, 0)), 1)
def suite():
"""
Gathering all tests
"""
suite = unittest.TestSuite()
suite.addTest(Test_GlobalRoutePlanner('test_unit_vector'))
suite.addTest(Test_GlobalRoutePlanner('test_dot'))
suite.addTest(Test_GlobalRoutePlanner('test_localise'))
suite.addTest(Test_GlobalRoutePlanner('test_path_search'))
suite.addTest(Test_GlobalRoutePlanner('test_plan_route'))
return suite
if __name__ == '__main__':
"""
Running test suite
"""
mySuit = suite()
runner = unittest.TextTestRunner()
runner.run(mySuit)