Improved the check of the simulations
This commit is contained in:
Daniel Santos-Olivan
DSantosO
parent
25175e1c46
commit
37d0075e35
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@ -112,8 +112,32 @@ class SpawnCars01(Scenario):
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super().init_scene()
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class CarCollision01(Scenario):
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def init_scene(self):
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world = self.world
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blueprint_library = world.get_blueprint_library()
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vehicle_transform = carla.Transform(carla.Location(100, -256, 0.015), carla.Rotation(yaw=178))
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vehicle = world.spawn_actor(blueprint_library.filter("tt")[0], vehicle_transform)
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opponent_transform = carla.Transform(carla.Location(40, -255, 0.04), carla.Rotation(yaw=0))
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opponent = world.spawn_actor(blueprint_library.filter("lincoln")[0], opponent_transform)
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wait(world, 1)
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vehicle.set_target_velocity( carla.Vector3D(-12, 0, 0))
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opponent.set_target_velocity(carla.Vector3D(+12, 0, 0))
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self.vehicle_list = []
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self.vehicle_list.append(vehicle)
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self.vehicle_list.append(opponent)
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wait(world, 1)
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super().init_scene()
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class CarCollision02(Scenario):
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def init_scene(self):
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world = self.world
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@ -137,30 +161,6 @@ class CarCollision01(Scenario):
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super().init_scene()
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class CarCollision02(Scenario):
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def init_scene(self):
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world = self.world
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blueprint_library = world.get_blueprint_library()
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vehicle_transform = carla.Transform(carla.Location(100, -256, 0.015), carla.Rotation(yaw=180))
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vehicle = world.spawn_actor(blueprint_library.filter("tt")[0], vehicle_transform)
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opponent_transform = carla.Transform(carla.Location(40, -255, 0.04), carla.Rotation(yaw=0))
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opponent = world.spawn_actor(blueprint_library.filter("lincoln")[0], opponent_transform)
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wait(world, 1)
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vehicle.set_target_velocity( carla.Vector3D(-50, 0, 0))
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opponent.set_target_velocity(carla.Vector3D(+10, 0, 0))
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self.vehicle_list = []
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self.vehicle_list.append(vehicle)
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self.vehicle_list.append(opponent)
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wait(world, 1)
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super().init_scene()
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class CarCollision03(Scenario):
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def init_scene(self):
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@ -193,7 +193,7 @@ class CarCollision03(Scenario):
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super().init_scene()
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class CarBikeCollision01(Scenario):
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class CarBikeCollis1(Scenario):
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def init_scene(self):
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world = self.world
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@ -226,6 +226,20 @@ class TestScenario():
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self.client = self.scene.client
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self.scenario_name = self.scene.__class__.__name__
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def compare_files(self, file_i, file_j):
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check_ij = filecmp.cmp(file_i, file_j)
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if check_ij:
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return True
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data_i = np.loadtxt(file_i)
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data_j = np.loadtxt(file_j)
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max_error = np.amax(np.abs(data_i-data_j))
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#print(max_error)
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return max_error < 0.2
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def check_simulations(self, rep_prefixes, gen_prefix):
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repetitions = len(rep_prefixes)
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mat_check = np.zeros((repetitions, repetitions), int)
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@ -238,7 +252,7 @@ class TestScenario():
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file_i = self.scene.get_filename(rep_prefixes[i], veh_idx)
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file_j = self.scene.get_filename(rep_prefixes[j], veh_idx)
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check_ij = filecmp.cmp(file_i, file_j)
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check_ij = self.compare_files(file_i, file_j)
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sim_check = sim_check and check_ij
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mat_check[i][j] = int(sim_check)
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mat_check[j][i] = int(sim_check)
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@ -257,7 +271,6 @@ class TestScenario():
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return max_rep_equal
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def save_simulations(self, rep_prefixes, prefix, max_idx, min_idx):
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for i in range(0, len(self.scene.vehicle_list)):
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file_repetition = self.scene.get_filename(rep_prefixes[max_idx], i)
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file_reference = self.scene.get_filename(prefix + "reference", i)
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@ -327,14 +340,16 @@ def main(arg):
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spectator.set_transform(spectator_transform)
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try:
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repetitions = 100
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test00 = TestScenario(SpawnCars01(client, world))
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test00.test_determ_one_config(20, 20, repetitions)
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#test00.test_determ_one_config(20, 40, 20)
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test00.test_determ_one_config(20, 60, repetitions)
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#test00.test_determ_one_config(20, 80, 20)
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test00.test_determ_one_config(20, 100, repetitions)
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repetitions = 20
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test00 = TestScenario(SpawnCars01(client, world))
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#test00.test_determ_one_config(20, 20, repetitions)
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#test00.test_determ_one_config(20, 40, 20)
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#test00.test_determ_one_config(20, 60, repetitions)
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#test00.test_determ_one_config(20, 80, 20)
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#test00.test_determ_one_config(20, 100, repetitions)
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print("--------------------------------------------------------------")
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test01 = TestScenario(CarCollision01(client, world))
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test01.test_determ_one_config(20, 20, repetitions)
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test01.test_determ_one_config(20, 40, repetitions)
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@ -342,13 +357,16 @@ def main(arg):
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test01.test_determ_one_config(20, 80, repetitions)
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test01.test_determ_one_config(20, 100, repetitions)
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print("--------------------------------------------------------------")
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test02 = TestScenario(CarCollision02(client, world))
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test02.test_determ_one_config(20, 20, repetitions)
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test02.test_determ_one_config(20, 40, repetitions)
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test02.test_determ_one_config(20, 60, repetitions)
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test02.test_determ_one_config(20, 80, repetitions)
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test02.test_determ_one_config(20, 100, repetitions)
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test02.test_determ_one_config(20, 120, repetitions)
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print("--------------------------------------------------------------")
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testBike01 = TestScenario(CarBikeCollision01(client, world))
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testBike01.test_determ_one_config(20, 20, repetitions)
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testBike01.test_determ_one_config(20, 40, repetitions)
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@ -356,16 +374,22 @@ def main(arg):
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testBike01.test_determ_one_config(20, 80, repetitions)
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testBike01.test_determ_one_config(20, 100, repetitions)
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print("--------------------------------------------------------------")
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test03 = TestScenario(CarCollision03(client, world))
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test03.test_determ_one_config(20, 20, repetitions)
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test03.test_determ_one_config(20, 40, repetitions)
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test03.test_determ_one_config(20, 60, repetitions)
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test03.test_determ_one_config(20, 80, repetitions)
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test03.test_determ_one_config(20, 100, repetitions)
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test03.test_determ_one_config(20, 120, repetitions)
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test03.test_determ_one_config(20, 140, repetitions)
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test03.test_determ_one_config(20, 160, repetitions)
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test03.test_determ_one_config(20, 180, repetitions)
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test03.test_determ_one_config(20, 200, repetitions)
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print("--------------------------------------------------------------")
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finally:
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settings = world.get_settings()
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settings.synchronous_mode = False
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settings.fixed_delta_seconds = 0.0
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