CoverageControl/python/tests/test_map_generation.py at main · KumarRobotics/CoverageControl · GitHub

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# This file is part of the CoverageControl library

# Author: Saurav Agarwal

# Contact: sauravag@seas.upenn.edu, agr.saurav1@gmail.com

# Repository: https://github.com/KumarRobotics/CoverageControl

# The CoverageControl library is free software: you can redistribute it and/or

# modify it under the terms of the GNU General Public License as published by

# the Free Software Foundation, either version 3 of the License, or (at your

# option) any later version.

# The CoverageControl library is distributed in the hope that it will be

# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General

# Public License for more details.

# You should have received a copy of the GNU General Public License along with

# CoverageControl library. If not, see <https://www.gnu.org/licenses/>.

import os

import warnings

import coverage_control

import numpy as np

script_dir = os.path.dirname(os.path.realpath(__file__))

params_file = os.path.join(script_dir, "data/params/coverage_control_params.toml")

params = coverage_control.Parameters(params_file)

features_file = os.path.join(script_dir, "data/features")

robot_pos_file = os.path.join(script_dir, "data/robots_positions")

def test_map_generation():

world_idf = coverage_control.WorldIDF(

params, os.path.join(script_dir, features_file)

)

env = coverage_control.CoverageSystem(params, world_idf, robot_pos_file)

world_map = env.GetWorldMap()

world_map_ref = np.load(os.path.join(script_dir, "data/world_map.npy"))

is_all_close = np.allclose(world_map, world_map_ref, atol=1e-2)

assert is_all_close

is_all_equal = np.equal(world_map, world_map_ref).all()

if not is_all_equal and is_all_close:

print("Max error: ", np.max(np.abs(world_map - world_map_ref)))

warnings.warn("Not all elements are equal, but all elements are close")

if __name__ == "__main__":

test_map_generation()

CoverageControl/python/tests/test_map_generation.py at main · KumarRobotics/CoverageControl · GitHub

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