Collision check script updated
This commit is contained in:
Daniel Santos-Olivan
bernat
parent
5899fa9e6a
commit
e48f997358
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@ -33,267 +33,292 @@ except IndexError:
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import carla
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def wait(world, frames=100):
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for _i in range(0, frames):
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world.tick()
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class Scenario():
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def __init__(self, client, world):
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def __init__(self, client, world, save_snapshots_mode=False):
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self.world = world
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self.client = client
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self.vehicle_list = []
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self.snapshots = []
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self.actor_list = []
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self.init_timestamp = []
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def init_scene(self):
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self.active = False
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self.prefix = ""
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self.save_snapshots_mode = save_snapshots_mode
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self.snapshots = []
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for v in self.vehicle_list:
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def init_scene(self, prefix, settings = None, spectator_tr = None):
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self.prefix = prefix
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self.actor_list = []
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self.active = True
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self.snapshots = []
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self.reload_world(settings, spectator_tr)
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# Init timestamp
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world_snapshot = self.world.get_snapshot()
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self.init_timestamp = {'frame0' : world_snapshot.frame, 'time0' : world_snapshot.timestamp.elapsed_seconds}
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def add_actor(self, actor, actor_name="Actor"):
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actor_idx = len(self.actor_list)
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name = str(actor_idx) + "_" + actor_name
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self.actor_list.append((name, actor))
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if self.save_snapshots_mode:
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self.snapshots.append(np.empty((0,11), float))
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snapshot = self.world.get_snapshot()
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self.init_timestamp = {'frame0' : snapshot.frame, 'time0' : snapshot.timestamp.elapsed_seconds}
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def wait(self, frames=100):
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for _i in range(0, frames):
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self.world.tick()
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def clear_scene(self):
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for v in self.vehicle_list:
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v.destroy()
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for actor in self.actor_list:
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actor[1].destroy()
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def save_snapshot(self, vehicle):
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self.active = False
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def reload_world(self, settings = None, spectator_tr = None):
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self.client.reload_world()
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if settings is not None:
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self.world.apply_settings(settings)
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if spectator_tr is not None:
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self.reset_spectator(spectator_tr)
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def reset_spectator(self, spectator_tr):
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spectator = self.world.get_spectator()
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spectator.set_transform(spectator_tr)
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def save_snapshot(self, actor):
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snapshot = self.world.get_snapshot()
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vehicle_snapshot = np.array([
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actor_snapshot = np.array([
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float(snapshot.frame - self.init_timestamp['frame0']), \
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snapshot.timestamp.elapsed_seconds - self.init_timestamp['time0'], \
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vehicle.get_velocity().x, vehicle.get_velocity().y, vehicle.get_velocity().z, \
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vehicle.get_location().x, vehicle.get_location().y, vehicle.get_location().z, \
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vehicle.get_angular_velocity().x, vehicle.get_angular_velocity().y, vehicle.get_angular_velocity().z])
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return vehicle_snapshot
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actor.get_velocity().x, actor.get_velocity().y, actor.get_velocity().z, \
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actor.get_location().x, actor.get_location().y, actor.get_location().z, \
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actor.get_angular_velocity().x, actor.get_angular_velocity().y, actor.get_angular_velocity().z])
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return actor_snapshot
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def save_snapshots(self):
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for i in range (0, len(self.vehicle_list)):
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self.snapshots[i] = np.vstack((self.snapshots[i], self.save_snapshot(self.vehicle_list[i])))
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if not self.save_snapshots_mode:
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return
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def get_filename(self, prefix, i):
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return prefix + "_v" + str(i) + ".out"
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for i in range (0, len(self.actor_list)):
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self.snapshots[i] = np.vstack((self.snapshots[i], self.save_snapshot(self.actor_list[i][1])))
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def run_simulation(self, prefix, tics = 200):
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self.init_scene()
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def save_snapshots_to_disk(self):
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if not self.save_snapshots_mode:
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return
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for i in range(0, tics):
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for i, actor in enumerate(self.actor_list):
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np.savetxt(self.get_filename(actor[0]), self.snapshots[i])
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def get_filename_with_prefix(self, prefix, actor_id=None, frame=None):
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add_id = "" if actor_id is None else "_" + actor_id
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add_frame = "" if frame is None else ("_%04d") % frame
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return prefix + add_id + add_frame + ".out"
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def get_filename(self, actor_id=None, frame=None):
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return self.get_filename_with_prefix(self.prefix, actor_id, frame)
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def run_simulation(self, prefix, run_settings, spectator_tr, tics = 200):
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original_settings = self.world.get_settings()
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self.init_scene(prefix, run_settings, spectator_tr)
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t_start = time.perf_counter()
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for _i in range(0, tics):
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self.world.tick()
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self.save_snapshots()
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t_end = time.perf_counter()
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for i in range(0, len(self.vehicle_list)):
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np.savetxt(self.get_filename(prefix, i), self.snapshots[i])
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self.world.apply_settings(original_settings)
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self.save_snapshots_to_disk()
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self.clear_scene()
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return t_end - t_start
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class SpawnCars01(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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class TwoSpawnedCars(Scenario):
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def init_scene(self, prefix, settings = None, spectator_tr = None):
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super().init_scene(prefix, settings, spectator_tr)
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blueprint_library = self.world.get_blueprint_library()
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vehicle00_tr = carla.Transform(carla.Location(100, -257, 0.02), carla.Rotation(yaw=181.5))
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vehicle00 = world.spawn_actor(blueprint_library.filter("tt")[0], vehicle00_tr)
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vehicle00 = self.world.spawn_actor(blueprint_library.filter("tt")[0], vehicle00_tr)
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vehicle01_tr = carla.Transform(carla.Location(110, -253, 0.04), carla.Rotation(yaw=181.5))
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vehicle01 = world.spawn_actor(blueprint_library.filter("lincoln")[0], vehicle01_tr)
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wait(world, 1)
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vehicle01 = self.world.spawn_actor(blueprint_library.filter("lincoln")[0], vehicle01_tr)
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self.wait(1)
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vehicle00.set_target_velocity(carla.Vector3D(-25, 0, 0))
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vehicle01.set_target_velocity(carla.Vector3D(-25, 0, 0))
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self.vehicle_list = []
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self.vehicle_list.append(vehicle00)
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self.vehicle_list.append(vehicle01)
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self.add_actor(vehicle00, "Car")
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self.add_actor(vehicle01, "Car")
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wait(world, 1)
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super().init_scene()
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self.wait(1)
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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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class TwoCarsSlowSpeedCollision(Scenario):
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def init_scene(self, prefix, settings = None, spectator_tr = None):
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super().init_scene(prefix, settings, spectator_tr)
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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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blueprint_library = self.world.get_blueprint_library()
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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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vehicle00_tr = carla.Transform(carla.Location(100, -256, 0.015), carla.Rotation(yaw=178))
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vehicle00 = self.world.spawn_actor(blueprint_library.filter("tt")[0], vehicle00_tr)
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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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vehicle01_tr = carla.Transform(carla.Location(40, -255, 0.04), carla.Rotation(yaw=0))
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vehicle01 = self.world.spawn_actor(blueprint_library.filter("lincoln")[0], vehicle01_tr)
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self.wait(1)
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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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vehicle00.set_target_velocity(carla.Vector3D(-12, 0, 0))
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vehicle01.set_target_velocity(carla.Vector3D(+12, 0, 0))
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wait(world, 1)
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self.add_actor(vehicle00, "Car")
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self.add_actor(vehicle01, "Car")
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super().init_scene()
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self.wait(1)
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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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class TwoCarsHighSpeedCollision(Scenario):
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def init_scene(self, prefix, settings = None, spectator_tr = None):
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super().init_scene(prefix, settings, spectator_tr)
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blueprint_library = world.get_blueprint_library()
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blueprint_library = self.world.get_blueprint_library()
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vehicle_transform = carla.Transform(carla.Location(140, -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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vehicle00_tr = carla.Transform(carla.Location(140, -256, 0.015), carla.Rotation(yaw=180))
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vehicle00 = self.world.spawn_actor(blueprint_library.filter("tt")[0], vehicle00_tr)
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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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vehicle01_tr = carla.Transform(carla.Location(40, -255, 0.04), carla.Rotation(yaw=0))
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vehicle01 = self.world.spawn_actor(blueprint_library.filter("lincoln")[0], vehicle01_tr)
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self.wait(1)
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vehicle.set_target_velocity( carla.Vector3D(-50, 0, 0))
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opponent.set_target_velocity(carla.Vector3D(+50, 0, 0))
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vehicle00.set_target_velocity( carla.Vector3D(-50, 0, 0))
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vehicle01.set_target_velocity(carla.Vector3D(+50, 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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self.add_actor(vehicle00, "Car")
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self.add_actor(vehicle01, "Car")
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wait(world, 1)
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super().init_scene()
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self.wait(1)
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class CarCollision03(Scenario):
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def init_scene(self):
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world = self.world
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class ThreeCarsSlowSpeedCollision(Scenario):
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def init_scene(self, prefix, settings = None, spectator_tr = None):
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super().init_scene(prefix, settings, spectator_tr)
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blueprint_library = world.get_blueprint_library()
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blueprint_library = self.world.get_blueprint_library()
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vehicle00_tr = carla.Transform(carla.Location(110, -255, 0.05), carla.Rotation(yaw=180))
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vehicle00 = world.spawn_actor(blueprint_library.filter("prius")[0], vehicle00_tr)
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vehicle00 = self.world.spawn_actor(blueprint_library.filter("prius")[0], vehicle00_tr)
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vehicle01_tr = carla.Transform(carla.Location(53, -257, 0.00), carla.Rotation(yaw=0))
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vehicle01 = world.spawn_actor(blueprint_library.filter("a2")[0], vehicle01_tr)
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vehicle01 = self.world.spawn_actor(blueprint_library.filter("a2")[0], vehicle01_tr)
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vehicle02_tr = carla.Transform(carla.Location(85, -230, 0.04), carla.Rotation(yaw=-90))
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vehicle02 = world.spawn_actor(blueprint_library.filter("lincoln")[0], vehicle02_tr)
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vehicle02 = self.world.spawn_actor(blueprint_library.filter("lincoln")[0], vehicle02_tr)
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wait(world, 1)
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self.wait(1)
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vehicle00.set_target_velocity(carla.Vector3D(-15, 0, 0))
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vehicle01.set_target_velocity(carla.Vector3D(+15, 0, 0))
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vehicle02.set_target_velocity(carla.Vector3D(0, -15, 0))
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self.vehicle_list = []
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self.vehicle_list.append(vehicle00)
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self.vehicle_list.append(vehicle01)
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self.vehicle_list.append(vehicle02)
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self.add_actor(vehicle00, "Car")
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self.add_actor(vehicle01, "Car")
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self.add_actor(vehicle02, "Car")
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wait(world, 1)
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super().init_scene()
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self.wait(1)
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class CarCollision04(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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class ThreeCarsHighSpeedCollision(Scenario):
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def init_scene(self, prefix, settings = None, spectator_tr = None):
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super().init_scene(prefix, settings, spectator_tr)
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blueprint_library = self.world.get_blueprint_library()
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vehicle00_tr = carla.Transform(carla.Location(110, -255, 0.05), carla.Rotation(yaw=180))
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vehicle00 = world.spawn_actor(blueprint_library.filter("prius")[0], vehicle00_tr)
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vehicle00 = self.world.spawn_actor(blueprint_library.filter("prius")[0], vehicle00_tr)
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vehicle01_tr = carla.Transform(carla.Location(53, -257, 0.00), carla.Rotation(yaw=0))
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vehicle01 = world.spawn_actor(blueprint_library.filter("a2")[0], vehicle01_tr)
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vehicle01 = self.world.spawn_actor(blueprint_library.filter("a2")[0], vehicle01_tr)
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vehicle02_tr = carla.Transform(carla.Location(85, -230, 0.04), carla.Rotation(yaw=-90))
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vehicle02 = world.spawn_actor(blueprint_library.filter("lincoln")[0], vehicle02_tr)
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vehicle02 = self.world.spawn_actor(blueprint_library.filter("lincoln")[0], vehicle02_tr)
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wait(world, 1)
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self.wait(1)
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vehicle00.set_target_velocity(carla.Vector3D(-30, 0, 0))
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vehicle01.set_target_velocity(carla.Vector3D(+30, 0, 0))
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vehicle02.set_target_velocity(carla.Vector3D(0, -30, 0))
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self.vehicle_list = []
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self.vehicle_list.append(vehicle00)
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self.vehicle_list.append(vehicle01)
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self.vehicle_list.append(vehicle02)
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self.add_actor(vehicle00, "Car")
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self.add_actor(vehicle01, "Car")
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self.add_actor(vehicle02, "Car")
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wait(world, 1)
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super().init_scene()
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self.wait(1)
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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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blueprint_library = world.get_blueprint_library()
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class CarBikeCollision(Scenario):
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def init_scene(self, prefix, settings = None, spectator_tr = None):
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super().init_scene(prefix, settings, spectator_tr)
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blueprint_library = self.world.get_blueprint_library()
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car_tr = carla.Transform(carla.Location(50, -255, 0.04), carla.Rotation(yaw=0))
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car = world.spawn_actor(blueprint_library.filter("*lincoln*")[0], car_tr)
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wait(world, 1)
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car = self.world.spawn_actor(blueprint_library.filter("*lincoln*")[0], car_tr)
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bike_tr = carla.Transform(carla.Location(85, -245, 0.04), carla.Rotation(yaw=-90))
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bike = world.spawn_actor(blueprint_library.filter("*gazelle*")[0], bike_tr)
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wait(world, 1)
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bike = self.world.spawn_actor(blueprint_library.filter("*gazelle*")[0], bike_tr)
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self.wait(1)
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car.set_target_velocity(carla.Vector3D(+30, 0, 0))
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bike.set_target_velocity(carla.Vector3D(0, -12, 0))
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self.vehicle_list = []
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self.vehicle_list.append(car)
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self.vehicle_list.append(bike)
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self.add_actor(car, "Car")
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self.add_actor(bike, "Bike")
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wait(world, 1)
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super().init_scene()
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self.wait(1)
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class CarWalkCollis1(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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class CarWalkerCollision(Scenario):
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def init_scene(self, prefix, settings = None, spectator_tr = None):
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super().init_scene(prefix, settings, spectator_tr)
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blueprint_library = self.world.get_blueprint_library()
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car_tr = carla.Transform(carla.Location(50, -255, 0.04), carla.Rotation(yaw=0))
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car = world.spawn_actor(blueprint_library.filter("*lincoln*")[0], car_tr)
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wait(world, 1)
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car = self.world.spawn_actor(blueprint_library.filter("*lincoln*")[0], car_tr)
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walker_tr = carla.Transform(carla.Location(85, -248, 1.00), carla.Rotation(yaw=-90))
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walker_tr = carla.Transform(carla.Location(85, -255, 1.00), carla.Rotation(yaw=-90))
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walker_bp = blueprint_library.filter("walker.pedestrian.0007")[0]
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if walker_bp.has_attribute('is_invincible'):
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walker_bp.set_attribute('is_invincible', 'false')
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walker = self.world.spawn_actor(walker_bp, walker_tr)
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walker = world.spawn_actor(walker_bp, walker_tr)
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wait(world, 1)
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self.wait(1)
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car.set_target_velocity(carla.Vector3D(+20, 0, 0))
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walker_control = walker.get_control()
|
||||
walker_control.direction = carla.Vector3D(0, -1, 0)
|
||||
walker_control.speed = 5
|
||||
#walker.apply_control(walker_control)
|
||||
walker.set_simulate_physics(True)
|
||||
self.add_actor(car, "Car")
|
||||
self.add_actor(walker, "Walker")
|
||||
|
||||
self.vehicle_list = []
|
||||
self.vehicle_list.append(car)
|
||||
self.vehicle_list.append(walker)
|
||||
|
||||
wait(world, 1)
|
||||
|
||||
super().init_scene()
|
||||
self.wait(1)
|
||||
|
||||
|
||||
class TestScenario():
|
||||
def __init__(self, scene):
|
||||
|
||||
class TestCollisionScenario():
|
||||
def __init__(self, scene, output_path):
|
||||
self.scene = scene
|
||||
self.world = self.scene.world
|
||||
self.client = self.scene.client
|
||||
self.scenario_name = self.scene.__class__.__name__
|
||||
self.output_path = output_path
|
||||
|
||||
def compare_files(self, file_i, file_j):
|
||||
check_ij = filecmp.cmp(file_i, file_j)
|
||||
|
|
@ -317,9 +342,10 @@ class TestScenario():
|
|||
mat_check[i][i] = 1
|
||||
for j in range(0, i):
|
||||
sim_check = True
|
||||
for veh_idx in range(0, len(self.scene.vehicle_list)):
|
||||
file_i = self.scene.get_filename(rep_prefixes[i], veh_idx)
|
||||
file_j = self.scene.get_filename(rep_prefixes[j], veh_idx)
|
||||
for actor in self.scene.actor_list:
|
||||
actor_id = actor[0]
|
||||
file_i = self.scene.get_filename_with_prefix(rep_prefixes[i], actor_id)
|
||||
file_j = self.scene.get_filename_with_prefix(rep_prefixes[j], actor_id)
|
||||
|
||||
check_ij = self.compare_files(file_i, file_j)
|
||||
sim_check = sim_check and check_ij
|
||||
|
|
@ -343,64 +369,63 @@ class TestScenario():
|
|||
return determinism_set
|
||||
|
||||
def save_simulations(self, rep_prefixes, prefix, max_idx, min_idx):
|
||||
for i in range(0, len(self.scene.vehicle_list)):
|
||||
file_repetition = self.scene.get_filename(rep_prefixes[max_idx], i)
|
||||
file_reference = self.scene.get_filename(prefix + "reference", i)
|
||||
for actor in self.scene.actor_list:
|
||||
actor_id = actor[0]
|
||||
reference_id = "reference_" + actor_id
|
||||
file_repetition = self.scene.get_filename_with_prefix(rep_prefixes[max_idx], actor_id)
|
||||
file_reference = self.scene.get_filename_with_prefix(prefix, reference_id)
|
||||
|
||||
shutil.copyfile(file_repetition, file_reference)
|
||||
|
||||
if min_idx != max_idx:
|
||||
for i in range(0, len(self.scene.vehicle_list)):
|
||||
file_repetition = self.scene.get_filename(rep_prefixes[min_idx], i)
|
||||
file_failed = self.scene.get_filename(prefix + "failed", i)
|
||||
for actor in self.scene.actor_list:
|
||||
actor_id = actor[0]
|
||||
failed_id = "failed_" + actor_id
|
||||
file_repetition = self.scene.get_filename_with_prefix(rep_prefixes[min_idx], actor_id)
|
||||
file_failed = self.scene.get_filename_with_prefix(prefix, failed_id)
|
||||
|
||||
shutil.copyfile(file_repetition, file_failed)
|
||||
|
||||
for r_prefix in rep_prefixes:
|
||||
for i in range(0, len(self.scene.vehicle_list)):
|
||||
file_repetition = self.scene.get_filename(r_prefix, i)
|
||||
for actor in self.scene.actor_list:
|
||||
actor_id = actor[0]
|
||||
file_repetition = self.scene.get_filename_with_prefix(r_prefix, actor_id)
|
||||
|
||||
os.remove(file_repetition)
|
||||
#os.remove(file_repetition)
|
||||
|
||||
def test_determ_one_config(self, fps, fps_phys, repetitions = 1, sim_tics = 100):
|
||||
def test_scenario(self, fps, fps_phys, repetitions = 1, sim_tics = 100):
|
||||
print("Testing Determinism in %s for %3d render FPS and %3d physics FPS -> " % \
|
||||
(self.scenario_name, fps, fps_phys), end='')
|
||||
|
||||
settings = self.world.get_settings()
|
||||
delta = 1.0/fps
|
||||
settings.synchronous_mode = True
|
||||
settings.fixed_delta_seconds = delta
|
||||
# Creating run features: prefix, settings and spectator options
|
||||
prefix = self.output_path + self.scenario_name + "_" + str(fps) + "_" + str(fps_phys)
|
||||
|
||||
settings.substepping = True
|
||||
settings.max_substep_delta_time = 1.0/fps_phys
|
||||
settings.max_substeps = 16
|
||||
self.world.apply_settings(settings)
|
||||
config_settings = self.world.get_settings()
|
||||
config_settings.synchronous_mode = True
|
||||
config_settings.fixed_delta_seconds = 1.0/fps
|
||||
config_settings.substepping = True
|
||||
config_settings.max_substep_delta_time = 1.0/fps_phys
|
||||
config_settings.max_substeps = 16
|
||||
|
||||
path = os.path.dirname(os.path.realpath(__file__))
|
||||
path = os.path.join(path, "_out") + os.path.sep
|
||||
if not os.path.exists(path):
|
||||
os.mkdir(path)
|
||||
spectator_tr = carla.Transform(carla.Location(120, -256, 10), carla.Rotation(yaw=180))
|
||||
|
||||
prefix = path + self.scenario_name + "_" + str(fps) + "_" + str(fps_phys) + "_"
|
||||
|
||||
t_start = time.perf_counter()
|
||||
t_comp = 0
|
||||
sim_prefixes = []
|
||||
for i in range(0, repetitions):
|
||||
prefix_rep = prefix + "rep" + str(i)
|
||||
self.scene.run_simulation(prefix_rep, tics=sim_tics)
|
||||
prefix_rep = prefix + "_rep" + str(i)
|
||||
t_comp += self.scene.run_simulation(prefix_rep, config_settings, spectator_tr, tics=sim_tics)
|
||||
sim_prefixes.append(prefix_rep)
|
||||
t_end = time.perf_counter()
|
||||
|
||||
determ_repet = self.check_simulations(sim_prefixes, prefix)
|
||||
print("Deterministic Repetitions: %r / %2d" % (determ_repet, repetitions), end="")
|
||||
print(" -> Comp. Time per frame: %.0f" % ((t_end-t_start)/repetitions*sim_tics))
|
||||
print(" -> Comp. Time per frame: %.0f" % (t_comp/repetitions*sim_tics))
|
||||
|
||||
|
||||
|
||||
def main(arg):
|
||||
"""Main function of the script"""
|
||||
client = carla.Client(arg.host, arg.port)
|
||||
client.set_timeout(2.0)
|
||||
client.set_timeout(4.0)
|
||||
world = client.get_world()
|
||||
pre_settings = world.get_settings()
|
||||
world.apply_settings(pre_settings)
|
||||
|
|
@ -411,63 +436,73 @@ def main(arg):
|
|||
spectator.set_transform(spectator_transform)
|
||||
|
||||
try:
|
||||
# Setting output temporal folder
|
||||
output_path = os.path.dirname(os.path.realpath(__file__))
|
||||
output_path = os.path.join(output_path, "_collisions") + os.path.sep
|
||||
if not os.path.exists(output_path):
|
||||
os.mkdir(output_path)
|
||||
|
||||
repetitions = 10
|
||||
|
||||
#test00 = TestScenario(SpawnCars01(client, world))
|
||||
#test00.test_determ_one_config(20, 20, repetitions)
|
||||
#test00.test_determ_one_config(20, 40, repetitions)
|
||||
#test00.test_determ_one_config(20, 60, repetitions)
|
||||
#test00.test_determ_one_config(20, 80, repetitions)
|
||||
#test00.test_determ_one_config(20, 100, repetitions)
|
||||
|
||||
testW1 = TestScenario(CarWalkCollis1(client, world))
|
||||
testW1.test_determ_one_config(20, 20, repetitions)
|
||||
testW1.test_determ_one_config(20, 40, repetitions)
|
||||
testW1.test_determ_one_config(20, 60, repetitions)
|
||||
testW1.test_determ_one_config(20, 80, repetitions)
|
||||
testW1.test_determ_one_config(20, 100, repetitions)
|
||||
#test00 = TestCollisionScenario(TwoSpawnedCars(client, world))
|
||||
#test00.test_scenario(20, 20, repetitions)
|
||||
#test00.test_scenario(20, 40, repetitions)
|
||||
#test00.test_scenario(20, 60, repetitions)
|
||||
#test00.test_scenario(20, 80, repetitions)
|
||||
#test00.test_scenario(20, 100, repetitions)
|
||||
|
||||
print("--------------------------------------------------------------")
|
||||
test01 = TestScenario(CarCollision01(client, world))
|
||||
test01.test_determ_one_config(20, 20, repetitions)
|
||||
test01.test_determ_one_config(20, 40, repetitions)
|
||||
test01.test_determ_one_config(20, 60, repetitions)
|
||||
test01.test_determ_one_config(20, 80, repetitions)
|
||||
test01.test_determ_one_config(20, 100, repetitions)
|
||||
test01 = TestCollisionScenario(TwoCarsSlowSpeedCollision(client, world, True), output_path)
|
||||
test01.test_scenario(20, 20, repetitions)
|
||||
test01.test_scenario(20, 40, repetitions)
|
||||
test01.test_scenario(20, 60, repetitions)
|
||||
test01.test_scenario(20, 80, repetitions)
|
||||
test01.test_scenario(20, 100, repetitions)
|
||||
|
||||
print("--------------------------------------------------------------")
|
||||
test02 = TestScenario(CarCollision02(client, world))
|
||||
test02.test_determ_one_config(20, 20, repetitions)
|
||||
test02.test_determ_one_config(20, 40, repetitions)
|
||||
test02.test_determ_one_config(20, 60, repetitions)
|
||||
test02.test_determ_one_config(20, 80, repetitions)
|
||||
test02.test_determ_one_config(20, 100, repetitions)
|
||||
test02 = TestCollisionScenario(TwoCarsHighSpeedCollision(client, world, True), output_path)
|
||||
test02.test_scenario(20, 20, repetitions)
|
||||
test02.test_scenario(20, 40, repetitions)
|
||||
test02.test_scenario(20, 60, repetitions)
|
||||
test02.test_scenario(20, 80, repetitions)
|
||||
test02.test_scenario(20, 100, repetitions)
|
||||
|
||||
print("--------------------------------------------------------------")
|
||||
testBike01 = TestScenario(CarBikeCollis1(client, world))
|
||||
testBike01.test_determ_one_config(20, 20, repetitions)
|
||||
testBike01.test_determ_one_config(20, 40, repetitions)
|
||||
testBike01.test_determ_one_config(20, 60, repetitions)
|
||||
testBike01.test_determ_one_config(20, 80, repetitions)
|
||||
testBike01.test_determ_one_config(20, 100, repetitions)
|
||||
testBike01 = TestCollisionScenario(CarBikeCollision(client, world, True), output_path)
|
||||
testBike01.test_scenario(20, 20, repetitions)
|
||||
testBike01.test_scenario(20, 40, repetitions)
|
||||
testBike01.test_scenario(20, 60, repetitions)
|
||||
testBike01.test_scenario(20, 80, repetitions)
|
||||
testBike01.test_scenario(20, 100, repetitions)
|
||||
|
||||
print("--------------------------------------------------------------")
|
||||
test03 = TestScenario(CarCollision03(client, world))
|
||||
test03.test_determ_one_config(20, 20, repetitions)
|
||||
test03.test_determ_one_config(20, 40, repetitions)
|
||||
test03.test_determ_one_config(20, 60, repetitions)
|
||||
test03.test_determ_one_config(20, 80, repetitions)
|
||||
test03.test_determ_one_config(20, 100, repetitions)
|
||||
test05 = TestCollisionScenario(CarWalkerCollision(client, world, True), output_path)
|
||||
test05.test_scenario(20, 20, repetitions)
|
||||
test05.test_scenario(20, 40, repetitions)
|
||||
test05.test_scenario(20, 60, repetitions)
|
||||
test05.test_scenario(20, 80, repetitions)
|
||||
test05.test_scenario(20, 100, repetitions)
|
||||
|
||||
print("--------------------------------------------------------------")
|
||||
test04 = TestScenario(CarCollision04(client, world))
|
||||
test04.test_determ_one_config(20, 20, repetitions)
|
||||
test04.test_determ_one_config(20, 40, repetitions)
|
||||
test04.test_determ_one_config(20, 60, repetitions)
|
||||
test04.test_determ_one_config(20, 80, repetitions)
|
||||
test04.test_determ_one_config(20, 100, repetitions)
|
||||
test03 = TestCollisionScenario(ThreeCarsSlowSpeedCollision(client, world, True), output_path)
|
||||
test03.test_scenario(20, 20, repetitions)
|
||||
test03.test_scenario(20, 40, repetitions)
|
||||
test03.test_scenario(20, 60, repetitions)
|
||||
test03.test_scenario(20, 80, repetitions)
|
||||
test03.test_scenario(20, 100, repetitions)
|
||||
|
||||
print("--------------------------------------------------------------")
|
||||
test04 = TestCollisionScenario(ThreeCarsHighSpeedCollision(client, world, True), output_path)
|
||||
test04.test_scenario(20, 20, repetitions)
|
||||
test04.test_scenario(20, 40, repetitions)
|
||||
test04.test_scenario(20, 60, repetitions)
|
||||
test04.test_scenario(20, 80, repetitions)
|
||||
test04.test_scenario(20, 100, repetitions)
|
||||
|
||||
print("--------------------------------------------------------------")
|
||||
|
||||
# Remove all the output files
|
||||
#shutil.rmtree(path)
|
||||
|
||||
|
||||
finally:
|
||||
|
|
|
|||
Loading…
Reference in New Issue