@Test
public void testPathStateConvert2() {
final Path startPath =
TestUtils.makeTmpPath(graph, false, new Coordinate(0, 0), new Coordinate(10, 0));
final Matrix covar =
MatrixFactory.getDefault()
.copyArray(new double[][] {new double[] {126.56, 8.44}, new double[] {8.44, 0.56}});
final MultivariateGaussian startBelief =
new AdjMultivariateGaussian(VectorFactory.getDenseDefault().createVector2D(0d, 1d), covar);
final PathStateDistribution currentBelief = new PathStateDistribution(startPath, startBelief);
final Vector groundLoc =
MotionStateEstimatorPredictor.getOg()
.times(currentBelief.getGroundDistribution().getMean());
AssertJUnit.assertEquals("initial state x", 0d, groundLoc.getElement(0), 0d);
AssertJUnit.assertEquals("initial state y", 0d, groundLoc.getElement(1), 0d);
final Path newPath =
TestUtils.makeTmpPath(
graph,
true,
new Coordinate(20, -10),
new Coordinate(10, -10),
new Coordinate(10, 0),
new Coordinate(0, 0));
final PathStateDistribution result = currentBelief.convertToPath(newPath);
AssertJUnit.assertEquals("distance", -0d, result.getMean().getElement(0), 0d);
AssertJUnit.assertEquals("velocity", -1d, result.getMean().getElement(1), 0d);
}
/** Path & edge are the same, directions are reverse, neg. to pos. */
@Test
public void testPathStateConvert7() {
final Path startPath =
TestUtils.makeTmpPath(
graph,
true,
new Coordinate(20, -10),
new Coordinate(10, -10),
new Coordinate(10, 0),
new Coordinate(0, 0));
final Matrix covar =
MatrixFactory.getDefault()
.copyArray(new double[][] {new double[] {126.56, 8.44}, new double[] {8.44, 0.56}});
final MultivariateGaussian startBelief =
new AdjMultivariateGaussian(VectorFactory.getDefault().createVector2D(-2.5d, 1d), covar);
final PathStateDistribution currentBelief = new PathStateDistribution(startPath, startBelief);
final Path newPath =
TestUtils.makeTmpPath(graph, false, new Coordinate(10, 0), new Coordinate(0, 0));
final PathStateDistribution result = currentBelief.convertToPath(newPath);
AssertJUnit.assertEquals("distance", 7.5d, result.getMean().getElement(0), 0d);
AssertJUnit.assertEquals("velocity", 1d, result.getMean().getElement(1), 0d);
}
/** Test conversion from a positive state to a negative one with an opposite geom. */
@Test
public void testGetStateOnPath() {
final Path startPath =
TestUtils.makeTmpPath(graph, false, new Coordinate(0, 0), new Coordinate(0, 60));
final PathState startState =
new PathState(startPath, VectorFactory.getDefault().createVector2D(12d, -1));
final Path newPath =
TestUtils.makeTmpPath(graph, true, new Coordinate(0, 60), new Coordinate(0, 0));
final Vector result = startState.convertToPath(newPath);
AssertJUnit.assertEquals("dist", -12d, result.getElement(0), 0d);
AssertJUnit.assertEquals("dist", 1d, result.getElement(1), 0d);
}
@Test(enabled = false, expectedExceptions = IllegalStateException.class)
public void testBadConversion() {
final Path startPath =
TestUtils.makeTmpPath(graph, true, new Coordinate(20, -10), new Coordinate(10, -10));
final Matrix covar =
MatrixFactory.getDefault()
.copyArray(new double[][] {new double[] {126.56, 8.44}, new double[] {8.44, 0.56}});
final MultivariateGaussian startBelief =
new AdjMultivariateGaussian(
VectorFactory.getDefault().createVector2D(-0d, -5d / 30d), covar);
final PathStateDistribution currentBelief = new PathStateDistribution(startPath, startBelief);
final Path newPath =
TestUtils.makeTmpPath(
graph,
true,
new Coordinate(20, -10),
new Coordinate(10, -10),
new Coordinate(10, 0),
new Coordinate(0, 0));
PathUtils.checkAndGetConvertedBelief(currentBelief, newPath);
}
/** Test around the start of the edge, positive. */
@Test
public void testPathEdge1() {
final Path path1 =
TestUtils.makeTmpPath(graph, false, new Coordinate(0, 10.11d), new Coordinate(10.11d, 20d));
final PathEdge edge1 = Iterables.getFirst(path1.getPathEdges(), null);
final Vector testVec1 = VectorFactory.getDenseDefault().createVector2D(-1e-12d, -1d);
final Vector result1 = edge1.getCheckedStateOnEdge(testVec1, 1e-7d, false);
AssertJUnit.assertEquals(0d, result1.getElement(0), 0d);
final Vector testVec2 = VectorFactory.getDenseDefault().createVector2D(1e-12d, -1d);
final Vector result2 = edge1.getCheckedStateOnEdge(testVec2, 1e-7d, false);
AssertJUnit.assertEquals(1e-12d, result2.getElement(0), 0d);
final Vector testVec3 = VectorFactory.getDenseDefault().createVector2D(-1e-6d, -1d);
final Vector result3 = edge1.getCheckedStateOnEdge(testVec3, 1e-7d, false);
AssertJUnit.assertEquals(null, result3);
}
