repo stringclasses 454
values | file_path stringlengths 5 201 | extension stringclasses 1
value | content stringlengths 8 509k | num_lines int64 3 16.9k | size_bytes int64 8 511k |
|---|---|---|---|---|---|
PythonRobotics | tests/test_flow_field.py | .py | import conftest
import PathPlanning.FlowField.flowfield as flow_field
def test():
flow_field.show_animation = False
flow_field.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 12 | 210 |
PythonRobotics | tests/test_rectangle_fitting.py | .py | import conftest # Add root path to sys.path
from Mapping.rectangle_fitting import rectangle_fitting as m
def test1():
m.show_animation = False
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 12 | 229 |
PythonRobotics | tests/test_rear_wheel_feedback.py | .py | import conftest # Add root path to sys.path
from PathTracking.rear_wheel_feedback_control import rear_wheel_feedback_control as m
def test1():
m.show_animation = False
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 12 | 254 |
PythonRobotics | tests/test_stanley_controller.py | .py | import conftest # Add root path to sys.path
from PathTracking.stanley_control import stanley_control as m
def test1():
m.show_animation = False
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 12 | 230 |
PythonRobotics | tests/test_breadth_first_search.py | .py | import conftest
from PathPlanning.BreadthFirstSearch import breadth_first_search as m
def test_1():
m.show_animation = False
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 12 | 221 |
PythonRobotics | tests/test_move_to_pose.py | .py | import itertools
import numpy as np
import conftest # Add root path to sys.path
from PathTracking.move_to_pose import move_to_pose as m
def test_random():
m.show_animation = False
m.main()
def test_stability():
"""
This unit test tests the move_to_pose.py program for stability
"""
m.show_an... | 91 | 2,693 |
PythonRobotics | tests/test_rrt_star.py | .py | import conftest # Add root path to sys.path
from PathPlanning.RRTStar import rrt_star as m
def test1():
m.show_animation = False
m.main()
def test_no_obstacle():
obstacle_list = []
# Set Initial parameters
rrt_star = m.RRTStar(start=[0, 0],
goal=[6, 10],
... | 37 | 935 |
PythonRobotics | tests/test_rrt_star_dubins.py | .py | import conftest # Add root path to sys.path
from PathPlanning.RRTStarDubins import rrt_star_dubins as m
def test1():
m.show_animation = False
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 12 | 228 |
PythonRobotics | tests/test_greedy_best_first_search.py | .py | import conftest
from PathPlanning.GreedyBestFirstSearch import greedy_best_first_search as m
def test_1():
m.show_animation = False
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 12 | 228 |
PythonRobotics | tests/test_potential_field_planning.py | .py | import conftest # Add root path to sys.path
from PathPlanning.PotentialFieldPlanning import potential_field_planning as m
def test1():
m.show_animation = False
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 12 | 246 |
PythonRobotics | tests/test_dstar.py | .py | import conftest
from PathPlanning.DStar import dstar as m
def test_1():
m.show_animation = False
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 12 | 182 |
PythonRobotics | tests/test_LQR_planner.py | .py | import conftest # Add root path to sys.path
from PathPlanning.LQRPlanner import lqr_planner as m
def test_1():
m.SHOW_ANIMATION = False
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 12 | 222 |
PythonRobotics | tests/test_dijkstra.py | .py | import conftest
from PathPlanning.Dijkstra import dijkstra as m
def test_1():
m.show_animation = False
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 12 | 188 |
PythonRobotics | tests/test_visibility_road_map_planner.py | .py | import conftest # Add root path to sys.path
from PathPlanning.VoronoiRoadMap import voronoi_road_map as m
def test1():
m.show_animation = False
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 12 | 230 |
PythonRobotics | tests/test_gaussian_grid_map.py | .py | import conftest
from Mapping.gaussian_grid_map import gaussian_grid_map as m
def test1():
m.show_animation = False
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 12 | 200 |
PythonRobotics | tests/test_state_lattice_planner.py | .py | import conftest # Add root path to sys.path
from PathPlanning.StateLatticePlanner import state_lattice_planner as m
def test1():
m.show_animation = False
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 12 | 240 |
PythonRobotics | tests/test_two_joint_arm_to_point_control.py | .py | import conftest # Add root path to sys.path
from ArmNavigation.two_joint_arm_to_point_control \
import two_joint_arm_to_point_control as m
def test1():
m.show_animation = False
m.animation()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 13 | 272 |
PythonRobotics | tests/test_bug.py | .py | import conftest
from PathPlanning.BugPlanning import bug as m
def test_1():
m.show_animation = False
m.main(bug_0=True, bug_1=True, bug_2=True)
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 12 | 220 |
PythonRobotics | tests/test_codestyle.py | .py | """
Diff code style checker with ruff
This code come from:
https://github.com/scipy/scipy/blob/main/tools/lint.py
Scipy's licence: https://github.com/scipy/scipy/blob/main/LICENSE.txt
Copyright (c) 2001-2002 Enthought, Inc. 2003-2022, SciPy Developers.
All rights reserved.
Redistribution and use in source and binary... | 139 | 4,364 |
PythonRobotics | tests/test_wavefront_coverage_path_planner.py | .py | import conftest # Add root path to sys.path
import os
import matplotlib.pyplot as plt
from PathPlanning.WavefrontCPP import wavefront_coverage_path_planner
wavefront_coverage_path_planner.do_animation = False
def wavefront_cpp(img, start, goal):
num_free = 0
for i in range(img.shape[0]):
for j in ra... | 64 | 1,791 |
PythonRobotics | tests/test_rocket_powered_landing.py | .py | import conftest # Add root path to sys.path
import numpy as np
from numpy.testing import suppress_warnings
from AerialNavigation.rocket_powered_landing import rocket_powered_landing as m
def test1():
m.show_animation = False
with suppress_warnings() as sup:
sup.filter(UserWarning,
... | 21 | 595 |
PythonRobotics | tests/test_elastic_bands.py | .py | import conftest
import numpy as np
from PathPlanning.ElasticBands.elastic_bands import ElasticBands
def test_1():
path = np.load("PathPlanning/ElasticBands/path.npy")
obstacles_points = np.load("PathPlanning/ElasticBands/obstacles.npy")
obstacles = np.zeros((500, 500))
for x, y in obstacles_points:
... | 24 | 788 |
PythonRobotics | tests/test_particle_swarm_optimization.py | .py | import conftest # Add root path to sys.path
from PathPlanning.ParticleSwarmOptimization import particle_swarm_optimization as m
def test_1():
m.show_animation = False
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__) | 11 | 252 |
PythonRobotics | tests/test_particle_filter.py | .py | import conftest # Add root path to sys.path
from Localization.particle_filter import particle_filter as m
def test_1():
m.show_animation = False
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 12 | 231 |
PythonRobotics | tests/test_quintic_polynomials_planner.py | .py | import conftest # Add root path to sys.path
from PathPlanning.QuinticPolynomialsPlanner import quintic_polynomials_planner as m
def test1():
m.show_animation = False
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 12 | 252 |
PythonRobotics | tests/test_d_star_lite.py | .py | import conftest
from PathPlanning.DStarLite import d_star_lite as m
def test_1():
m.show_animation = False
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 12 | 192 |
PythonRobotics | tests/test_priority_based_planner.py | .py | from PathPlanning.TimeBasedPathPlanning.GridWithDynamicObstacles import (
Grid,
NodePath,
ObstacleArrangement,
Position,
)
from PathPlanning.TimeBasedPathPlanning.BaseClasses import StartAndGoal
from PathPlanning.TimeBasedPathPlanning import PriorityBasedPlanner as m
from PathPlanning.TimeBasedPathPlann... | 40 | 1,400 |
PythonRobotics | tests/test_rrt.py | .py | import conftest
import random
from PathPlanning.RRT import rrt as m
from PathPlanning.RRT import rrt_with_pathsmoothing as m1
random.seed(12345)
def test1():
m.show_animation = False
m.main(gx=1.0, gy=1.0)
def test2():
m1.show_animation = False
m1.main()
if __name__ == '__main__':
conftest.r... | 22 | 343 |
PythonRobotics | tests/test_cubature_kalman_filter.py | .py | import conftest
from Localization.cubature_kalman_filter import cubature_kalman_filter as m
def test1():
m.show_final = False
m.show_animation = False
m.show_ellipse = False
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 14 | 267 |
PythonRobotics | tests/test_a_star_searching_two_side.py | .py | import conftest
from PathPlanning.AStar import a_star_searching_from_two_side as m
def test1():
m.show_animation = False
m.main(800)
def test2():
m.show_animation = False
m.main(5000) # increase obstacle number, block path
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 17 | 310 |
PythonRobotics | tests/test_rrt_star_reeds_shepp.py | .py | import conftest # Add root path to sys.path
from PathPlanning.RRTStarReedsShepp import rrt_star_reeds_shepp as m
def test1():
m.show_animation = False
m.main(max_iter=5)
obstacleList = [
(5, 5, 1),
(4, 6, 1),
(4, 8, 1),
(4, 10, 1),
(6, 5, 1),
(7, 5, 1),
(8, 6, 1),
(8, 8, 1),
... | 47 | 1,456 |
PythonRobotics | tests/test_informed_rrt_star.py | .py | import conftest
from PathPlanning.InformedRRTStar import informed_rrt_star as m
def test1():
m.show_animation = False
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 12 | 203 |
PythonRobotics | tests/test_normal_vector_estimation.py | .py | import conftest # Add root path to sys.path
from Mapping.normal_vector_estimation import normal_vector_estimation as m
import random
random.seed(12345)
def test_1():
m.show_animation = False
m.main1()
def test_2():
m.show_animation = False
m.main2()
if __name__ == '__main__':
conftest.run_th... | 20 | 338 |
PythonRobotics | tests/test_grid_based_sweep_coverage_path_planner.py | .py | import conftest
from PathPlanning.GridBasedSweepCPP \
import grid_based_sweep_coverage_path_planner
grid_based_sweep_coverage_path_planner.do_animation = False
RIGHT = grid_based_sweep_coverage_path_planner. \
SweepSearcher.MovingDirection.RIGHT
LEFT = grid_based_sweep_coverage_path_planner. \
SweepSearche... | 119 | 3,212 |
PythonRobotics | tests/test_mypy_type_check.py | .py | import os
import subprocess
import conftest
SUBPACKAGE_LIST = [
"AerialNavigation",
"ArmNavigation",
"Bipedal",
"Localization",
"Mapping",
"PathPlanning",
"PathTracking",
"SLAM",
"InvertedPendulum"
]
def run_mypy(dir_name, project_path, config_path):
res = subprocess.run(
... | 51 | 1,086 |
PythonRobotics | tests/test_lqr_speed_steer_control.py | .py | import conftest # Add root path to sys.path
from PathTracking.lqr_speed_steer_control import lqr_speed_steer_control as m
def test_1():
m.show_animation = False
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 12 | 247 |
PythonRobotics | tests/test_n_joint_arm_to_point_control.py | .py | import conftest # Add root path to sys.path
from ArmNavigation.n_joint_arm_to_point_control\
import n_joint_arm_to_point_control as m
import random
random.seed(12345)
def test1():
m.show_animation = False
m.animation()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 16 | 301 |
PythonRobotics | tests/test_point_cloud_sampling.py | .py | import conftest # Add root path to sys.path
from Mapping.point_cloud_sampling import point_cloud_sampling as m
def test_1(capsys):
m.do_plot = False
m.main()
captured = capsys.readouterr()
assert "voxel_sampling_points.shape=(27, 3)" in captured.out
assert "farthest_sampling_points.shape=(20, 3)"... | 16 | 466 |
PythonRobotics | tests/test_voronoi_road_map_planner.py | .py | import conftest # Add root path to sys.path
from PathPlanning.VisibilityRoadMap import visibility_road_map as m
def test1():
m.show_animation = False
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 12 | 236 |
PythonRobotics | tests/test_clothoidal_paths.py | .py | import conftest
from PathPlanning.ClothoidPath import clothoid_path_planner as m
def test_1():
m.show_animation = False
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 12 | 205 |
PythonRobotics | tests/test_histogram_filter.py | .py | import conftest
from Localization.histogram_filter import histogram_filter as m
def test1():
m.show_animation = False
m.SIM_TIME = 1.0
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 13 | 224 |
PythonRobotics | tests/test_ekf_slam.py | .py | import conftest
from SLAM.EKFSLAM import ekf_slam as m
def test_1():
m.show_animation = False
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 12 | 179 |
PythonRobotics | tests/test_drone_3d_trajectory_following.py | .py | import conftest
from AerialNavigation.drone_3d_trajectory_following \
import drone_3d_trajectory_following as m
def test1():
m.show_animation = False
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 13 | 239 |
PythonRobotics | tests/test_state_machine.py | .py | import conftest
from MissionPlanning.StateMachine.state_machine import StateMachine
def test_transition():
sm = StateMachine("state_machine")
sm.add_transition(src_state="idle", event="start", dst_state="running")
sm.set_current_state("idle")
sm.process("start")
assert sm.get_current_state().name... | 52 | 1,326 |
PythonRobotics | tests/test_move_to_pose_robot.py | .py | import conftest # Add root path to sys.path
from PathTracking.move_to_pose import move_to_pose as m
def test_1():
"""
This unit test tests the move_to_pose_robot.py program
"""
m.show_animation = False
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 15 | 300 |
PythonRobotics | tests/test_hybrid_a_star.py | .py | import conftest
from PathPlanning.HybridAStar import hybrid_a_star as m
def test1():
m.show_animation = False
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 12 | 195 |
PythonRobotics | tests/test_dynamic_window_approach.py | .py | import conftest
import numpy as np
from PathPlanning.DynamicWindowApproach import dynamic_window_approach as m
def test_main1():
m.show_animation = False
m.main(gx=1.0, gy=1.0)
def test_main2():
m.show_animation = False
m.main(gx=1.0, gy=1.0, robot_type=m.RobotType.rectangle)
def test_stuck_main(... | 49 | 1,532 |
PythonRobotics | tests/test_safe_interval_path_planner.py | .py | from PathPlanning.TimeBasedPathPlanning.GridWithDynamicObstacles import (
Grid,
ObstacleArrangement,
Position,
)
from PathPlanning.TimeBasedPathPlanning import SafeInterval as m
import numpy as np
import conftest
def test_1():
start = Position(1, 11)
goal = Position(19, 19)
grid_side_length = ... | 32 | 766 |
PythonRobotics | tests/test_reeds_shepp_path_planning.py | .py | import numpy as np
import conftest # Add root path to sys.path
from PathPlanning.ReedsSheppPath import reeds_shepp_path_planning as m
def check_edge_condition(px, py, pyaw, start_x, start_y, start_yaw, end_x,
end_y, end_yaw):
assert (abs(px[0] - start_x) <= 0.01)
assert (abs(py[0] -... | 58 | 1,749 |
PythonRobotics | tests/test_spiral_spanning_tree_coverage_path_planner.py | .py | import conftest # Add root path to sys.path
import os
import matplotlib.pyplot as plt
from PathPlanning.SpiralSpanningTreeCPP \
import spiral_spanning_tree_coverage_path_planner
spiral_spanning_tree_coverage_path_planner.do_animation = True
def spiral_stc_cpp(img, start):
num_free = 0
for i in range(img... | 59 | 1,609 |
PythonRobotics | tests/test_a_star.py | .py | import conftest
from PathPlanning.AStar import a_star as m
def test_1():
m.show_animation = False
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 12 | 183 |
PythonRobotics | tests/test_batch_informed_rrt_star.py | .py | import random
import conftest
from PathPlanning.BatchInformedRRTStar import batch_informed_rrt_star as m
def test_1():
m.show_animation = False
random.seed(12345)
m.main(maxIter=10)
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 15 | 263 |
PythonRobotics | tests/test_kmeans_clustering.py | .py | import conftest
from Mapping.kmeans_clustering import kmeans_clustering as m
def test_1():
m.show_animation = False
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 12 | 201 |
PythonRobotics | tests/test_rrt_with_pathsmoothing_radius.py | .py | import conftest
import math
from PathPlanning.RRT import rrt_with_pathsmoothing as rrt_module
def test_smoothed_path_safety():
# Define test environment
obstacle_list = [
(5, 5, 1.0),
(3, 6, 2.0),
(3, 8, 2.0),
(3, 10, 2.0),
(7, 5, 2.0),
(9, 5, 2.0)
]
rob... | 49 | 1,333 |
PythonRobotics | tests/test_lqr_steer_control.py | .py | import conftest # Add root path to sys.path
from PathTracking.lqr_steer_control import lqr_steer_control as m
def test1():
m.show_animation = False
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 12 | 234 |
PythonRobotics | tests/test_iterative_closest_point.py | .py | import conftest
from SLAM.ICPMatching import icp_matching as m
def test_1():
m.show_animation = False
m.main()
def test_2():
m.show_animation = False
m.main_3d_points()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 17 | 255 |
PythonRobotics | tests/test_grid_map_lib.py | .py | from Mapping.grid_map_lib.grid_map_lib import GridMap
import conftest
import numpy as np
def test_position_set():
grid_map = GridMap(100, 120, 0.5, 10.0, -0.5)
grid_map.set_value_from_xy_pos(10.1, -1.1, 1.0)
grid_map.set_value_from_xy_pos(10.1, -0.1, 1.0)
grid_map.set_value_from_xy_pos(10.1, 1.1, 1.0... | 41 | 1,312 |
PythonRobotics | tests/test_depth_first_search.py | .py | import conftest
from PathPlanning.DepthFirstSearch import depth_first_search as m
def test_1():
m.show_animation = False
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 12 | 206 |
PythonRobotics | tests/test_theta_star.py | .py | import conftest
from PathPlanning.ThetaStar import theta_star as m
def test_1():
m.show_animation = False
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__) | 11 | 190 |
PythonRobotics | tests/test_inverted_pendulum_lqr_control.py | .py | import conftest
from InvertedPendulum import inverted_pendulum_lqr_control as m
def test_1():
m.show_animation = False
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 12 | 204 |
PythonRobotics | tests/test_behavior_tree.py | .py | import pytest
import conftest
from MissionPlanning.BehaviorTree.behavior_tree import (
BehaviorTreeFactory,
Status,
ActionNode,
)
def test_sequence_node1():
xml_string = """
<Sequence>
<Echo name="Echo 1" message="Hello, World1!" />
<Echo name="Echo 2" message="Hello, ... | 208 | 6,502 |
PythonRobotics | tests/test_inverted_pendulum_mpc_control.py | .py | import conftest
from InvertedPendulum import inverted_pendulum_mpc_control as m
def test1():
m.show_animation = False
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 13 | 204 |
PythonRobotics | tests/test_bipedal_planner.py | .py | import conftest
from Bipedal.bipedal_planner import bipedal_planner as m
def test_1():
bipedal_planner = m.BipedalPlanner()
footsteps = [[0.0, 0.2, 0.0],
[0.3, 0.2, 0.0],
[0.3, 0.2, 0.2],
[0.3, 0.2, 0.2],
[0.0, 0.2, 0.2]]
bipedal_planner... | 19 | 453 |
PythonRobotics | tests/test_unscented_kalman_filter.py | .py | import conftest # Add root path to sys.path
from Localization.unscented_kalman_filter import unscented_kalman_filter as m
def test1():
m.show_animation = False
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 12 | 246 |
PythonRobotics | tests/test_distance_map.py | .py | import conftest # noqa
import numpy as np
from Mapping.DistanceMap import distance_map as m
def test_compute_sdf():
"""Test the computation of Signed Distance Field (SDF)"""
# Create a simple obstacle map for testing
obstacles = np.array([[0, 0, 0], [0, 1, 0], [0, 0, 0]])
sdf = m.compute_sdf(obstacl... | 119 | 3,977 |
PythonRobotics | tests/test_cgmres_nmpc.py | .py | import conftest
from PathTracking.cgmres_nmpc import cgmres_nmpc as m
def test1():
m.show_animation = False
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 12 | 193 |
PythonRobotics | tests/test_frenet_optimal_trajectory.py | .py | import conftest
from PathPlanning.FrenetOptimalTrajectory import frenet_optimal_trajectory as m
from PathPlanning.FrenetOptimalTrajectory.frenet_optimal_trajectory import (
LateralMovement,
LongitudinalMovement,
)
def default_scenario_test():
m.show_animation = False
m.SIM_LOOP = 5
m.main()
def ... | 49 | 1,336 |
PythonRobotics | tests/test_fast_slam2.py | .py | import conftest
from SLAM.FastSLAM2 import fast_slam2 as m
def test1():
m.show_animation = False
m.SIM_TIME = 3.0
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 13 | 203 |
PythonRobotics | tests/test_circle_fitting.py | .py | import conftest
from Mapping.circle_fitting import circle_fitting as m
def test_1():
m.show_animation = False
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 12 | 195 |
PythonRobotics | tests/test_catmull_rom_spline.py | .py | import conftest
from PathPlanning.Catmull_RomSplinePath.catmull_rom_spline_path import catmull_rom_spline
def test_catmull_rom_spline():
way_points = [[0, 0], [1, 2], [2, 0], [3, 3]]
num_points = 100
spline_x, spline_y = catmull_rom_spline(way_points, num_points)
assert spline_x.size > 0, "Spline... | 17 | 600 |
PythonRobotics | tests/test_fast_slam1.py | .py | import conftest
from SLAM.FastSLAM1 import fast_slam1 as m
def test1():
m.show_animation = False
m.SIM_TIME = 3.0
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 13 | 203 |
PythonRobotics | tests/test_model_predictive_speed_and_steer_control.py | .py | import conftest # Add root path to sys.path
from PathTracking.model_predictive_speed_and_steer_control \
import model_predictive_speed_and_steer_control as m
def test_1():
m.show_animation = False
m.main()
def test_2():
m.show_animation = False
m.main2()
if __name__ == '__main__':
confte... | 19 | 347 |
PythonRobotics | tests/test_rrt_dubins.py | .py | import conftest # Add root path to sys.path
from PathPlanning.RRTDubins import rrt_dubins as m
def test1():
m.show_animation = False
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 12 | 219 |
PythonRobotics | tests/test_pure_pursuit.py | .py | import conftest # Add root path to sys.path
from PathTracking.pure_pursuit import pure_pursuit as m
def test1():
m.show_animation = False
m.main()
def test_backward():
m.show_animation = False
m.is_reverse_mode = True
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 16 | 316 |
PythonRobotics | tests/test_utils.py | .py | import conftest # Add root path to sys.path
from utils import angle
from numpy.testing import assert_allclose
import numpy as np
def test_rot_mat_2d():
assert_allclose(angle.rot_mat_2d(0.0),
np.array([[1., 0.],
[0., 1.]]))
def test_angle_mod():
assert_allcl... | 28 | 815 |
PythonRobotics | tests/test_dubins_path_planning.py | .py | import numpy as np
import conftest
from PathPlanning.DubinsPath import dubins_path_planner
np.random.seed(12345)
def check_edge_condition(px, py, pyaw, start_x, start_y, start_yaw, end_x,
end_y, end_yaw):
assert (abs(px[0] - start_x) <= 0.01)
assert (abs(py[0] - start_y) <= 0.01)
... | 93 | 2,663 |
PythonRobotics | tests/test_closed_loop_rrt_star_car.py | .py | import conftest
from PathPlanning.ClosedLoopRRTStar import closed_loop_rrt_star_car as m
import random
def test_1():
random.seed(12345)
m.show_animation = False
m.main(gx=1.0, gy=0.0, gyaw=0.0, max_iter=5)
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 14 | 286 |
PythonRobotics | tests/test_rrt_with_sobol_sampler.py | .py | import conftest # Add root path to sys.path
from PathPlanning.RRT import rrt_with_sobol_sampler as m
import random
random.seed(12345)
def test1():
m.show_animation = False
m.main(gx=1.0, gy=1.0)
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 15 | 273 |
PythonRobotics | tests/test_space_time_astar.py | .py | from PathPlanning.TimeBasedPathPlanning.GridWithDynamicObstacles import (
Grid,
ObstacleArrangement,
Position,
)
from PathPlanning.TimeBasedPathPlanning import SpaceTimeAStar as m
import numpy as np
import conftest
def test_1():
start = Position(1, 11)
goal = Position(19, 19)
grid_side_length ... | 33 | 802 |
PythonRobotics | tests/test_ray_casting_grid_map.py | .py | import conftest # Add root path to sys.path
from Mapping.ray_casting_grid_map import ray_casting_grid_map as m
def test1():
m.show_animation = False
m.main()
if __name__ == '__main__':
conftest.run_this_test(__file__)
| 12 | 235 |
PythonRobotics | tests/conftest.py | .py | """Path hack to make tests work."""
import sys
import os
import pytest
TEST_DIR = os.path.dirname(os.path.abspath(__file__))
sys.path.append(TEST_DIR) # to import this file from test code.
ROOT_DIR = os.path.dirname(TEST_DIR)
sys.path.append(ROOT_DIR)
def run_this_test(file):
pytest.main(args=["-W", "error", "-... | 14 | 379 |
PythonRobotics | Mapping/kmeans_clustering/kmeans_clustering.py | .py | """
Object clustering with k-means algorithm
author: Atsushi Sakai (@Atsushi_twi)
"""
import math
import matplotlib.pyplot as plt
import random
# k means parameters
MAX_LOOP = 10
DCOST_TH = 0.1
show_animation = True
def kmeans_clustering(rx, ry, nc):
"""
Performs k-means clustering on the given dataset, ... | 175 | 4,461 |
PythonRobotics | Mapping/ray_casting_grid_map/ray_casting_grid_map.py | .py | """
Ray casting 2D grid map example
author: Atsushi Sakai (@Atsushi_twi)
"""
import math
import numpy as np
import matplotlib.pyplot as plt
EXTEND_AREA = 10.0
show_animation = True
def calc_grid_map_config(ox, oy, xyreso):
minx = round(min(ox) - EXTEND_AREA / 2.0)
miny = round(min(oy) - EXTEND_AREA / 2.... | 138 | 3,466 |
PythonRobotics | Mapping/normal_vector_estimation/normal_vector_estimation.py | .py | import numpy as np
from matplotlib import pyplot as plt
from utils.plot import plot_3d_vector_arrow, plot_triangle, set_equal_3d_axis
show_animation = True
def calc_normal_vector(p1, p2, p3):
"""Calculate normal vector of triangle
Parameters
----------
p1 : np.array
3D point
p2 : np.arr... | 178 | 5,249 |
PythonRobotics | Mapping/gaussian_grid_map/gaussian_grid_map.py | .py | """
2D gaussian grid map sample
author: Atsushi Sakai (@Atsushi_twi)
"""
import math
import numpy as np
import matplotlib.pyplot as plt
from scipy.stats import norm
EXTEND_AREA = 10.0 # [m] grid map extention length
show_animation = True
def generate_gaussian_grid_map(ox, oy, xyreso, std):
minx, miny, max... | 87 | 2,397 |
PythonRobotics | Mapping/point_cloud_sampling/point_cloud_sampling.py | .py | """
Point cloud sampling example codes. This code supports
- Voxel point sampling
- Farthest point sampling
- Poisson disk sampling
"""
import matplotlib.pyplot as plt
import numpy as np
import numpy.typing as npt
from collections import defaultdict
do_plot = True
def voxel_point_sampling(original_points: npt.NDArr... | 169 | 5,732 |
PythonRobotics | Mapping/ndt_map/ndt_map.py | .py | """
Normal Distribution Transform (NDTGrid) mapping sample
"""
import matplotlib.pyplot as plt
import numpy as np
from collections import defaultdict
from Mapping.grid_map_lib.grid_map_lib import GridMap
from utils.plot import plot_covariance_ellipse
class NDTMap:
"""
Normal Distribution Transform (NDT) map ... | 136 | 4,296 |
PythonRobotics | Mapping/grid_map_lib/grid_map_lib.py | .py | """
Grid map library in python
author: Atsushi Sakai
"""
from functools import total_ordering
import matplotlib.pyplot as plt
import numpy as np
@total_ordering
class FloatGrid:
def __init__(self, init_val=0.0):
self.data = init_val
def get_float_data(self):
return self.data
def __eq... | 313 | 9,509 |
PythonRobotics | Mapping/rectangle_fitting/simulator.py | .py | """
Simulator
author: Atsushi Sakai
"""
import sys
import pathlib
sys.path.append(str(pathlib.Path(__file__).parent.parent.parent))
import numpy as np
import matplotlib.pyplot as plt
import math
import random
from utils.angle import rot_mat_2d
class VehicleSimulator:
def __init__(self, i_x, i_y, i_yaw, i_v... | 141 | 3,819 |
PythonRobotics | Mapping/rectangle_fitting/rectangle_fitting.py | .py | """
Object shape recognition with L-shape fitting
author: Atsushi Sakai (@Atsushi_twi)
Reference:
- Efficient L-Shape Fitting for Vehicle Detection Using Laser Scanners -
The Robotics Institute Carnegie Mellon University
https://www.ri.cmu.edu/publications/
efficient-l-shape-fitting-for-vehicle-detection-using-laser... | 292 | 8,624 |
PythonRobotics | Mapping/lidar_to_grid_map/lidar_to_grid_map.py | .py | """
LIDAR to 2D grid map example
author: Erno Horvath, Csaba Hajdu based on Atsushi Sakai's scripts
"""
import math
from collections import deque
import matplotlib.pyplot as plt
import numpy as np
EXTEND_AREA = 1.0
def file_read(f):
"""
Reading LIDAR laser beams (angles and corresponding distance data)
... | 241 | 8,344 |
PythonRobotics | Mapping/DistanceMap/distance_map.py | .py | """
Distance Map
author: Wang Zheng (@Aglargil)
Reference:
- [Distance Map]
(https://cs.brown.edu/people/pfelzens/papers/dt-final.pdf)
"""
import numpy as np
import matplotlib.pyplot as plt
import scipy
INF = 1e20
ENABLE_PLOT = True
def compute_sdf_scipy(obstacles):
"""
Compute the signed distance field ... | 203 | 5,432 |
PythonRobotics | Mapping/circle_fitting/circle_fitting.py | .py | """
Object shape recognition with circle fitting
author: Atsushi Sakai (@Atsushi_twi)
"""
import matplotlib.pyplot as plt
import math
import random
import numpy as np
show_animation = True
def circle_fitting(x, y):
"""
Fits a circle to a given set of points using a least-squares approach.
This funct... | 163 | 4,529 |
PythonRobotics | utils/plot.py | .py | """
Matplotlib based plotting utilities
"""
import math
import matplotlib.pyplot as plt
import numpy as np
from mpl_toolkits.mplot3d import art3d
from matplotlib.patches import FancyArrowPatch
from mpl_toolkits.mplot3d.proj3d import proj_transform
from mpl_toolkits.mplot3d import Axes3D
from utils.angle import rot_mat... | 235 | 8,698 |
PythonRobotics | utils/angle.py | .py | import numpy as np
from scipy.spatial.transform import Rotation as Rot
def rot_mat_2d(angle):
"""
Create 2D rotation matrix from an angle
Parameters
----------
angle :
Returns
-------
A 2D rotation matrix
Examples
--------
>>> angle_mod(-4.0)
"""
return Rot.fro... | 84 | 1,739 |
PythonRobotics | SLAM/FastSLAM1/fast_slam1.py | .py | """
FastSLAM 1.0 example
author: Atsushi Sakai (@Atsushi_twi)
"""
import math
import matplotlib.pyplot as plt
import numpy as np
from utils.angle import angle_mod
# Fast SLAM covariance
Q = np.diag([3.0, np.deg2rad(10.0)]) ** 2
R = np.diag([1.0, np.deg2rad(20.0)]) ** 2
# Simulation parameter
Q_SIM = np.diag([0.... | 395 | 10,321 |
PythonRobotics | SLAM/GraphBasedSLAM/graph_based_slam.py | .py | """
Graph based SLAM example
author: Atsushi Sakai (@Atsushi_twi)
Ref
[A Tutorial on Graph-Based SLAM]
(http://www2.informatik.uni-freiburg.de/~stachnis/pdf/grisetti10titsmag.pdf)
"""
import sys
import pathlib
sys.path.append(str(pathlib.Path(__file__).parent.parent.parent))
import copy
import itertools
import ma... | 323 | 8,338 |
PythonRobotics | SLAM/GraphBasedSLAM/graphslam/util.py | .py | # Copyright (c) 2020 Jeff Irion and contributors
#
# This file originated from the `graphslam` package:
#
# https://github.com/JeffLIrion/python-graphslam
"""Utility functions used throughout the package.
"""
import numpy as np
TWO_PI = 2 * np.pi
def neg_pi_to_pi(angle):
r"""Normalize ``angle`` to be in :m... | 78 | 1,532 |
PythonRobotics | SLAM/GraphBasedSLAM/graphslam/load.py | .py | # Copyright (c) 2020 Jeff Irion and contributors
#
# This file originated from the `graphslam` package:
#
# https://github.com/JeffLIrion/python-graphslam
"""Functions for loading graphs.
"""
import logging
import numpy as np
from .edge.edge_odometry import EdgeOdometry
from .graph import Graph
from .pose.se2 im... | 67 | 1,815 |
PythonRobotics | SLAM/GraphBasedSLAM/graphslam/vertex.py | .py | # Copyright (c) 2020 Jeff Irion and contributors
#
# This file originated from the `graphslam` package:
#
# https://github.com/JeffLIrion/python-graphslam
"""A ``Vertex`` class.
"""
import matplotlib.pyplot as plt
# pylint: disable=too-few-public-methods
class Vertex:
"""A class for representing a vertex in ... | 68 | 1,722 |
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