@Test
public void testPathStateConvert1() {
final Path startPath =
TestUtils.makeTmpPath(graph, true, 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.getDefault().createVector2D(-0d, -5d / 30d), covar);
final PathStateDistribution currentBelief = new PathStateDistribution(startPath, startBelief);
final Vector groundLoc =
MotionStateEstimatorPredictor.getOg()
.times(currentBelief.getGroundDistribution().getMean());
AssertJUnit.assertEquals("initial state x", 10d, 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", -10d, result.getMotionDistribution().getMean().getElement(0), 0d);
AssertJUnit.assertEquals(
"velocity", 5d / 30d, result.getMotionDistribution().getMean().getElement(1), 0d);
}
