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TestVehiclePhysics: Update and enable all tests

This commit is contained in:
Daniel Santos-Olivan 2021-05-03 14:38:25 +02:00 committed by bernat
parent d8c2342a3c
commit 7dc9e78331
1 changed files with 18 additions and 22 deletions
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40
PythonAPI/test/smoke/test_vehicle_physics.py
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@ -196,14 +196,14 @@ class TestVehicleFriction(SyncSmokeTest):
for _i in range(0, frames): for _i in range(0, frames):
self.world.tick() self.world.tick()
def _test_vehicle_zero_friction(self): def test_vehicle_zero_friction(self):
print("TestVehicleFriction.test_vehicle_zero_friction") print("TestVehicleFriction.test_vehicle_zero_friction")
self.client.load_world("Town05_Opt", False) self.client.load_world("Town05_Opt", False)
bp_vehicles = self.world.get_blueprint_library().filter("vehicle.*") bp_vehicles = self.world.get_blueprint_library().filter("vehicle.*")
for bp_veh in bp_vehicles: for bp_veh in bp_vehicles:
veh_transf = carla.Transform(carla.Location(35, -200, 0.1), carla.Rotation(yaw=90)) veh_transf = carla.Transform(carla.Location(35, -200, 0.5), carla.Rotation(yaw=90))
vehicle_00 = self.world.spawn_actor(bp_veh, veh_transf) vehicle_00 = self.world.spawn_actor(bp_veh, veh_transf)
vehicle_00.set_target_velocity(carla.Vector3D(0, 0, 0)) vehicle_00.set_target_velocity(carla.Vector3D(0, 0, 0))
@ -249,7 +249,7 @@ class TestVehicleFriction(SyncSmokeTest):
vel_veh_00 = vehicle_00.get_velocity().y vel_veh_00 = vehicle_00.get_velocity().y
vel_veh_01 = vehicle_01.get_velocity().y vel_veh_01 = vehicle_01.get_velocity().y
vel_veh_02 = vehicle_02.get_velocity().y vel_veh_02 = vehicle_02.get_velocity().y
if not list_equal_tol([vel_ref, vel_veh_00, vel_veh_01, vel_veh_02], 1e-3): if not list_equal_tol([vel_ref, vel_veh_00, vel_veh_01, vel_veh_02], 1e-2):
vehicle_00.destroy() vehicle_00.destroy()
vehicle_01.destroy() vehicle_01.destroy()
vehicle_02.destroy() vehicle_02.destroy()
@ -259,18 +259,18 @@ class TestVehicleFriction(SyncSmokeTest):
loc_veh_00 = vehicle_00.get_location().y loc_veh_00 = vehicle_00.get_location().y
loc_veh_01 = vehicle_01.get_location().y loc_veh_01 = vehicle_01.get_location().y
loc_veh_02 = vehicle_02.get_location().y loc_veh_02 = vehicle_02.get_location().y
if not list_equal_tol([loc_veh_00, loc_veh_01, loc_veh_02], 1e-3): if not list_equal_tol([loc_veh_00, loc_veh_01, loc_veh_02], 1e-2):
vehicle_00.destroy() vehicle_00.destroy()
vehicle_01.destroy() vehicle_01.destroy()
vehicle_02.destroy() vehicle_02.destroy()
self.fail("%s: Locations are not equal after simulation" % bp_veh.id) self.fail("%s: Locations are not equal after simulation: %f %f %f" % (bp_veh.id, loc_veh_00, loc_veh_01, loc_veh_02))
vehicle_00.destroy() vehicle_00.destroy()
vehicle_01.destroy() vehicle_01.destroy()
vehicle_02.destroy() vehicle_02.destroy()
def _test_vehicle_volume_trigger(self): def test_vehicle_friction_volume(self):
print("TestVehicleFriction.test_vehicle_volume_trigger") print("TestVehicleFriction.test_vehicle_friction_volume")
self.client.load_world("Town05_Opt", False) self.client.load_world("Town05_Opt", False)
@ -303,13 +303,9 @@ class TestVehicleFriction(SyncSmokeTest):
vehicle_01.set_target_velocity(carla.Vector3D(0, 0, 0)) vehicle_01.set_target_velocity(carla.Vector3D(0, 0, 0))
vehicle_01.set_enable_gravity(True) vehicle_01.set_enable_gravity(True)
spectator_transform = carla.Transform(veh_transf.location, veh_transf.rotation) self.wait(20)
spectator_transform.location.z += 3
self.world.get_spectator().set_transform(spectator_transform)
self.wait(100) vel_ref = 50.0 / 3.6
vel_ref = 100.0 / 3.6
friction_ref = 0.0 friction_ref = 0.0
vehicle_00.apply_physics_control(change_physics_control(vehicle_00, tire_friction=friction_ref, drag=0.0)) vehicle_00.apply_physics_control(change_physics_control(vehicle_00, tire_friction=friction_ref, drag=0.0))
vehicle_01.apply_physics_control(change_physics_control(vehicle_01, tire_friction=friction_ref, drag=0.0)) vehicle_01.apply_physics_control(change_physics_control(vehicle_01, tire_friction=friction_ref, drag=0.0))
@ -329,12 +325,10 @@ class TestVehicleFriction(SyncSmokeTest):
self.fail("%s: Reference vehicle has changed before trigger. Vel: %.3f [%.3f]. Fric: %.3f [%.3f]" self.fail("%s: Reference vehicle has changed before trigger. Vel: %.3f [%.3f]. Fric: %.3f [%.3f]"
% (bp_veh.id, bef_vel_veh_00, vel_ref, bef_tire_fr_00, friction_ref)) % (bp_veh.id, bef_vel_veh_00, vel_ref, bef_tire_fr_00, friction_ref))
if not equal_tol(bef_vel_veh_01, vel_ref, 1e-3) or not equal_tol(bef_tire_fr_01, friction_ref, 1e-3): if not equal_tol(bef_vel_veh_01, vel_ref, 1e-3) or not equal_tol(bef_tire_fr_01, friction_ref, 1e-3):
self.fail("%s: Check vehicle has changed before trigger. Vel: %.3f [%.3f]. Fric: %.3f [%.3f]" self.fail("%s: Test vehicle has changed before trigger. Vel: %.3f [%.3f]. Fric: %.3f [%.3f]"
% (bp_veh.id, bef_vel_veh_01, vel_ref, bef_tire_fr_01, friction_ref)) % (bp_veh.id, bef_vel_veh_01, vel_ref, bef_tire_fr_01, friction_ref))
self.wait(100)
self.wait(120)
# Inside trigger # Inside trigger
ins_vel_veh_00 = vehicle_00.get_velocity().y ins_vel_veh_00 = vehicle_00.get_velocity().y
@ -342,17 +336,18 @@ class TestVehicleFriction(SyncSmokeTest):
ins_tire_fr_00 = vehicle_00.get_physics_control().wheels[0].tire_friction ins_tire_fr_00 = vehicle_00.get_physics_control().wheels[0].tire_friction
ins_tire_fr_01 = vehicle_01.get_physics_control().wheels[0].tire_friction ins_tire_fr_01 = vehicle_01.get_physics_control().wheels[0].tire_friction
#extent = carla.Location(100.0, 100.0, 200.0)
#self.world.debug.draw_box(box=carla.BoundingBox(vehicle_01.get_location(), extent * 1e-2), rotation=vol_transf.rotation, life_time=2, thickness=0.5, color=carla.Color(r=255,g=0,b=0))
if not equal_tol(ins_vel_veh_00, vel_ref, 1e-3) or not equal_tol(ins_tire_fr_00, friction_ref, 1e-3): if not equal_tol(ins_vel_veh_00, vel_ref, 1e-3) or not equal_tol(ins_tire_fr_00, friction_ref, 1e-3):
self.fail("%s: Reference vehicle has changed inside trigger. Vel: %.3f [%.3f]. Fric: %.3f [%.3f]" self.fail("%s: Reference vehicle has changed inside trigger. Vel: %.3f [%.3f]. Fric: %.3f [%.3f]"
% (bp_veh.id, ins_vel_veh_00, vel_ref, ins_tire_fr_00, friction_ref)) % (bp_veh.id, ins_vel_veh_00, vel_ref, ins_tire_fr_00, friction_ref))
if ins_vel_veh_01 > vel_ref or not equal_tol(ins_tire_fr_01, value_vol_friction, 1e-3): if ins_vel_veh_01 > vel_ref or not equal_tol(ins_tire_fr_01, value_vol_friction, 1e-3):
self.fail("%s: Check vehicle is not correct inside trigger. Vel: %.3f [%.3f]. Fric: %.3f [%.3f]" self.fail("%s: Test vehicle is not correct inside trigger. Vel: %.3f [%.3f]. Fric: %.3f [%.3f]"
% (bp_veh.id, ins_vel_veh_01, vel_ref, ins_tire_fr_01, value_vol_friction)) % (bp_veh.id, ins_vel_veh_01, vel_ref, ins_tire_fr_01, value_vol_friction))
self.wait(200) self.wait(200)
# Outside trigger # Outside trigger
out_vel_veh_00 = vehicle_00.get_velocity().y out_vel_veh_00 = vehicle_00.get_velocity().y
out_vel_veh_01 = vehicle_01.get_velocity().y out_vel_veh_01 = vehicle_01.get_velocity().y
@ -363,12 +358,13 @@ class TestVehicleFriction(SyncSmokeTest):
self.fail("%s: Reference vehicle has changed after trigger. Vel: %.3f [%.3f]. Fric: %.3f [%.3f]" self.fail("%s: Reference vehicle has changed after trigger. Vel: %.3f [%.3f]. Fric: %.3f [%.3f]"
% (bp_veh.id, ins_vel_veh_00, vel_ref, out_tire_fr_00, friction_ref)) % (bp_veh.id, ins_vel_veh_00, vel_ref, out_tire_fr_00, friction_ref))
if out_vel_veh_01 > vel_ref or not equal_tol(out_tire_fr_01, friction_ref, 1e-3): if out_vel_veh_01 > vel_ref or not equal_tol(out_tire_fr_01, friction_ref, 1e-3):
self.fail("%s: Check vehicle is not correct after trigger. Vel: %.3f [%.3f]. Fric: %.3f [%.3f]" self.fail("%s: Test vehicle is not correct after trigger. Vel: %.3f [%.3f]. Fric: %.3f [%.3f]"
% (bp_veh.id, out_vel_veh_01, vel_ref, out_tire_fr_01, friction_ref)) % (bp_veh.id, out_vel_veh_01, vel_ref, out_tire_fr_01, friction_ref))
vehicle_00.destroy() vehicle_00.destroy()
vehicle_01.destroy() vehicle_01.destroy()
friction_trigger.destroy()
friction_trigger.destroy()
def test_vehicle_friction_values(self): def test_vehicle_friction_values(self):
print("TestVehicleFriction.test_vehicle_friction_values") print("TestVehicleFriction.test_vehicle_friction_values")