Added pyrate as a direct dependency.
This commit is contained in:
0
pyrate/tests/plan/__init__.py
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0
pyrate/tests/plan/__init__.py
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0
pyrate/tests/plan/geometry/__init__.py
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0
pyrate/tests/plan/geometry/__init__.py
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0
pyrate/tests/plan/geometry/helpers/__init__.py
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0
pyrate/tests/plan/geometry/helpers/__init__.py
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171
pyrate/tests/plan/geometry/helpers/test_difference.py
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171
pyrate/tests/plan/geometry/helpers/test_difference.py
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@ -0,0 +1,171 @@
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"""This module asserts correct runtime behaviour of the :mod:`pyrate.plan.geometry.helpers` functions
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for calculating differences.
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"""
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# Python standard
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from abc import ABC
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from abc import abstractmethod
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from math import isfinite
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from math import isnan
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import warnings
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# Typing
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from typing import Callable
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from typing import Sequence
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from typing import Tuple
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# Generic testing
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from unittest import TestCase
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# Numeric testing
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from numpy import allclose
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from numpy import array
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# Hypothesis testing
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from hypothesis import given
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import hypothesis.strategies as st
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# Test helpers
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from pyrate.plan.geometry.helpers import difference_direction
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from pyrate.plan.geometry.helpers import difference_latitude
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from pyrate.plan.geometry.helpers import difference_longitude
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from pyrate.plan.geometry.helpers import ScalarOrArray
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class TestDifference(TestCase, ABC):
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"""Makes sure the distance measure is well-behaved.
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Keep in mind that it is formally not a metric since the triangle inequality does not hold.
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"""
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@abstractmethod
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def _get_difference_function(self) -> Callable[[ScalarOrArray, ScalarOrArray], ScalarOrArray]:
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"""Get the function to be tested."""
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@abstractmethod
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def _get_max(self) -> float:
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"""Get the desired maximum value (inclusive)."""
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@abstractmethod
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def _get_concrete_examples(self) -> Sequence[Tuple[float, float, float]]:
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"""Get some concrete values to be tested as a sequence of ``(value a, value b, distance between)``."""
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@given(st.floats(), st.floats())
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def test_distance_measuring_commutes_and_is_in_bounds(self, first: float, second: float) -> None:
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"""Assures flipping the sides when calculating distances does not make a significant difference."""
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with warnings.catch_warnings():
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warnings.simplefilter("ignore")
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distance_1 = self._get_difference_function()(first, second)
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distance_2 = self._get_difference_function()(second, first)
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if isfinite(distance_1) and isfinite(distance_1):
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# make sure it commutes
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self.assertAlmostEqual(distance_1, distance_2)
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# make sure the distance is always positive
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self.assertGreaterEqual(distance_1, 0.0)
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self.assertGreaterEqual(distance_2, 0.0)
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# make sure the distance is within bounds
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self.assertLessEqual(distance_1, self._get_max())
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self.assertLessEqual(distance_2, self._get_max())
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else:
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self.assertTrue(isnan(distance_1))
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self.assertTrue(isnan(distance_2))
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@given(st.floats())
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def test_distance_measuring_to_itself_is_zero(self, thing: float) -> None:
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"""Assures flipping the sides when calculating distances does not make a significant difference."""
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with warnings.catch_warnings():
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warnings.simplefilter("ignore")
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distance = self._get_difference_function()(thing, thing)
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# make sure the distance is always positive and very close to zero
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if isfinite(distance):
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self.assertGreaterEqual(distance, 0.0)
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self.assertAlmostEqual(distance, 0.0)
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else:
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self.assertTrue(isnan(distance))
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def test_concrete_examples(self) -> None:
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"""Checks the result for the concrete examples given in :meth:`~_get_concrete_examples`."""
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function = self._get_difference_function()
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for index, (value_a, value_b, expected_result) in enumerate(self._get_concrete_examples()):
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with self.subTest(f"example triple #{index}"):
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self.assertAlmostEqual(function(value_a, value_b), expected_result, delta=1e-12)
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def test_concrete_examples_as_array(self) -> None:
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"""Checks the result for the concrete examples given in :meth:`~_get_concrete_examples`."""
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function = self._get_difference_function()
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data = array(self._get_concrete_examples()).T
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self.assertTrue(allclose(function(data[0, :], data[1, :]), data[2, :]))
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class TestDifferenceLatitude(TestDifference):
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"""Tests :func:`pyrate.plan.geometry.helpers.difference_latitude`."""
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def _get_difference_function(self) -> Callable[[ScalarOrArray, ScalarOrArray], ScalarOrArray]:
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return difference_latitude
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def _get_max(self) -> float:
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return 180.0
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def _get_concrete_examples(self) -> Sequence[Tuple[float, float, float]]:
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return [
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(0, 0, 0),
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(-90, 90, 180),
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(-89.5, 0, 89.5),
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(-89.5, 0.5, 90),
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(-89.5, -0.5, 89),
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(-45, 45, 90),
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]
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class TestDifferenceLongitude(TestDifference):
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"""Tests :func:`pyrate.plan.geometry.helpers.difference_longitude`."""
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def _get_difference_function(self) -> Callable[[ScalarOrArray, ScalarOrArray], ScalarOrArray]:
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return difference_longitude
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def _get_max(self) -> float:
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return 180.0
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def _get_concrete_examples(self) -> Sequence[Tuple[float, float, float]]:
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return [
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(0, 0, 0),
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(-90, 90, 180),
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(-89.5, 0, 89.5),
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(-89.5, 0.5, 90),
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(-89.5, -0.5, 89),
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(180, -180, 0),
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(100, -100, 160),
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(-45, 45, 90),
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]
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class TestDifferenceDirection(TestDifference):
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"""Tests :func:`pyrate.plan.geometry.helpers.difference_direction`."""
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def _get_difference_function(self) -> Callable[[ScalarOrArray, ScalarOrArray], ScalarOrArray]:
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return difference_direction
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def _get_max(self) -> float:
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return 180.0
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def _get_concrete_examples(self) -> Sequence[Tuple[float, float, float]]:
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return [
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(0, 0, 0),
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(-90, 90, 180),
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(0, 360, 0),
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(10, -10, 20),
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(10, 350, 20),
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(370, 20, 10),
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]
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# Do not execute the base class as a test, see https://stackoverflow.com/a/43353680/3753684
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del TestDifference
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62
pyrate/tests/plan/geometry/helpers/test_distance.py
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62
pyrate/tests/plan/geometry/helpers/test_distance.py
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"""This module asserts correct runtime behaviour of the :mod:`pyrate.plan.geometry.helpers` functions
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for calculating distances.
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"""
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# Python standard library
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from datetime import timedelta
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from math import radians
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# Testing
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from unittest import TestCase
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# Hypothesis testing
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from hypothesis import given
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from hypothesis import settings
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import hypothesis.strategies as st
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# Scientific (testing)
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import numpy.testing
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# Module under test
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from pyrate.plan.geometry.helpers import fast_distance_geo
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from pyrate.plan.geometry.helpers import haversine_numpy
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# Own geometry
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from pyrate.plan.geometry.geospatial import MEAN_EARTH_CIRCUMFERENCE
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from pyrate.plan.geometry import PolarLocation
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# Test helpers
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from pyrate.common.testing.strategies.geometry import geo_bearings
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from pyrate.common.testing.strategies.geometry import polar_locations
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class TestDistanceCalculation(TestCase):
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"""Tests the geographic helper methods."""
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@given(polar_locations(), polar_locations())
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def test_haversine_formula(self, location_1: PolarLocation, location_2: PolarLocation) -> None:
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"""Test the correctness of the haversine formula."""
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dist = haversine_numpy(
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radians(location_1.latitude),
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radians(location_1.longitude),
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radians(location_2.latitude),
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radians(location_2.longitude),
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)
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self.assertLessEqual(dist, MEAN_EARTH_CIRCUMFERENCE / 2)
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numpy.testing.assert_allclose(location_1.distance(location_2), dist, atol=5.0, rtol=0.01)
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@given(polar_locations(), geo_bearings(), st.floats(min_value=0.0, max_value=250_000.0))
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@settings(deadline=timedelta(seconds=1.0))
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# pylint: disable=no-self-use
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def test_fast_distance_geo(self, center: PolarLocation, direction: float, distance: float) -> None:
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"""Test the correctness of the fast great-circle approximation."""
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other, _ = center.translate(direction, distance)
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distance_calculated = fast_distance_geo(
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radians(other.latitude),
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radians(other.longitude),
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radians(center.latitude),
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radians(center.longitude),
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)
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numpy.testing.assert_allclose(distance, distance_calculated, atol=0.5, rtol=0.05)
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182
pyrate/tests/plan/geometry/helpers/test_normalize.py
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182
pyrate/tests/plan/geometry/helpers/test_normalize.py
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"""This module asserts correct runtime behaviour of the :mod:`pyrate.plan.geometry.helpers` functions
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for normalization.
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"""
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# Python standard
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from abc import ABC
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from abc import abstractmethod
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# Typing
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from typing import Callable
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from typing import Sequence
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from typing import Tuple
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# Generic testing
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from unittest import TestCase
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# Numeric testing
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from numpy import allclose
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from numpy import array
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# Hypothesis testing
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from hypothesis import given
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import hypothesis.strategies as st
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# Test helpers
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from pyrate.plan.geometry.helpers import normalize_direction
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from pyrate.plan.geometry.helpers import normalize_latitude
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from pyrate.plan.geometry.helpers import normalize_longitude
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from pyrate.plan.geometry.helpers import ScalarOrArray
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class TestNormalize(TestCase, ABC):
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"""Makes sure the normalizations are well-behaved."""
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@abstractmethod
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def _get_normalization_function(self) -> Callable[[ScalarOrArray], ScalarOrArray]:
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"""Get the function to be tested."""
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@abstractmethod
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def _get_min(self) -> float:
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"""Get the desired minimum value (inclusive)."""
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@abstractmethod
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def _get_max(self) -> float:
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"""Get the desired maximum value, see :meth:`TestNormalize._max_is_inclusive`."""
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def _max_is_inclusive(self) -> bool: # pylint: disable=no-self-use
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"""If :meth:`TestNormalize._get_max` is to be seen as inclusive or exclusive"""
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return False
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@abstractmethod
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def _get_concrete_examples(self) -> Sequence[Tuple[float, float]]:
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"""Get some concrete values to be tested as a sequence of ``(non-normalized, normalized)``."""
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@given(st.floats(allow_infinity=False, allow_nan=False))
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def test_bounds(self, value: float) -> None:
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"""Assures that the normalized value is within its bounds."""
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normalized = self._get_normalization_function()(value)
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# make sure the normalized value is within bounds
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self.assertGreaterEqual(normalized, self._get_min())
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if self._max_is_inclusive():
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self.assertLessEqual(normalized, self._get_max())
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else:
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self.assertLess(normalized, self._get_max())
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@given(st.floats(allow_infinity=False, allow_nan=False))
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def test_normalizing_twice(self, value: float) -> None:
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"""Assures that normalizing twice does not really change the value."""
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normalized = self._get_normalization_function()(value)
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normalized_twice = self._get_normalization_function()(normalized)
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self.assertAlmostEqual(normalized, normalized_twice, places=10)
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@given(st.floats(min_value=-400, max_value=+400))
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def test_already_normalized_values(self, value: float) -> None:
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"""Assures that values stay unchanged if and only if are already normalized (i.e. within bounds)."""
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below_max = value < self._get_max() or (self._max_is_inclusive() and value == self._get_max())
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if self._get_min() <= value and below_max:
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self.assertAlmostEqual(self._get_normalization_function()(value), value, delta=1e-12)
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else:
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self.assertNotEqual(self._get_normalization_function()(value), value)
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def test_concrete_examples(self) -> None:
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"""Checks the result for the concrete examples given in :meth:`~_get_concrete_examples`."""
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function = self._get_normalization_function()
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for index, (non_normalized, normalized) in enumerate(self._get_concrete_examples()):
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with self.subTest(f"example triple #{index}"):
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self.assertAlmostEqual(function(non_normalized), normalized, delta=1e-12)
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def test_concrete_examples_as_array(self) -> None:
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"""Checks the result for the concrete examples given in :meth:`~_get_concrete_examples`."""
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function = self._get_normalization_function()
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data = array(self._get_concrete_examples()).T
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self.assertTrue(allclose(function(data[0, :]), data[1, :]))
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class TestNormalizeLatitude(TestNormalize):
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"""Tests :func:`pyrate.plan.geometry.helpers.normalize_latitude`."""
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def _get_normalization_function(self) -> Callable[[ScalarOrArray], ScalarOrArray]:
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return normalize_latitude
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def _get_min(self) -> float:
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return -90.0
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def _get_max(self) -> float:
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return 90.0
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def _max_is_inclusive(self) -> bool:
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return True
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def _get_concrete_examples(self) -> Sequence[Tuple[float, float]]:
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return [
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(0, 0),
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(90, 90),
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(-90, -90),
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(100, 80),
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(180, 0),
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(270, -90),
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(-180, 0),
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(-270, 90),
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(-10, -10),
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]
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class TestNormalizeLongitude(TestNormalize):
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"""Tests :func:`pyrate.plan.geometry.helpers.normalize_longitude`."""
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def _get_normalization_function(self) -> Callable[[ScalarOrArray], ScalarOrArray]:
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return normalize_longitude
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def _get_min(self) -> float:
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return -180.0
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def _get_max(self) -> float:
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return 180.0
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def _get_concrete_examples(self) -> Sequence[Tuple[float, float]]:
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||||
return [
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(0, 0),
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(90, 90),
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||||
(-90, -90),
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||||
(100, 100),
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(180, -180),
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||||
(-180, -180),
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(270, -90),
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(-10, -10),
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]
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||||
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class TestNormalizeDirection(TestNormalize):
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"""Tests :func:`pyrate.plan.geometry.helpers.normalize_direction`."""
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def _get_normalization_function(self) -> Callable[[ScalarOrArray], ScalarOrArray]:
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return normalize_direction
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||||
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def _get_min(self) -> float:
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||||
return 0.0
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||||
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||||
def _get_max(self) -> float:
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return 360.0
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||||
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||||
def _get_concrete_examples(self) -> Sequence[Tuple[float, float]]:
|
||||
return [
|
||||
(0, 0),
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||||
(90, 90),
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||||
(-90, 270),
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||||
(100, 100),
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||||
(180, 180),
|
||||
(-180, 180),
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||||
(270, 270),
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||||
(-10, 350),
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||||
]
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||||
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||||
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||||
# Do not execute the base class as a test, see https://stackoverflow.com/a/43353680/3753684
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||||
del TestNormalize
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120
pyrate/tests/plan/geometry/helpers/test_other.py
Normal file
120
pyrate/tests/plan/geometry/helpers/test_other.py
Normal file
@ -0,0 +1,120 @@
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"""This module asserts correct runtime behaviour of various additional helpers."""
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||||
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||||
# Python Standard Library
|
||||
from math import tau
|
||||
|
||||
# Generic testing
|
||||
from unittest import TestCase
|
||||
|
||||
# Hypothesis testing
|
||||
import hypothesis.extra.numpy as st_numpy
|
||||
from hypothesis import given
|
||||
import hypothesis.strategies as st
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||||
|
||||
# Scientific
|
||||
import numpy as np
|
||||
from numpy.testing import assert_almost_equal
|
||||
|
||||
# Module under test
|
||||
from pyrate.plan.geometry.helpers import cartesian_to_spherical
|
||||
from pyrate.plan.geometry.helpers import difference_latitude
|
||||
from pyrate.plan.geometry.helpers import difference_longitude
|
||||
from pyrate.plan.geometry.helpers import mean_angle
|
||||
from pyrate.plan.geometry.helpers import mean_coordinate
|
||||
from pyrate.plan.geometry.helpers import meters2rad
|
||||
from pyrate.plan.geometry.helpers import rad2meters
|
||||
|
||||
# Own strategies
|
||||
from pyrate.common.testing.strategies.geometry import geo_bearings
|
||||
|
||||
|
||||
_POSITIVE_FLOATS = st.floats(min_value=0.0, max_value=1e9, allow_infinity=False, allow_nan=False)
|
||||
|
||||
|
||||
class TestRadiansAndMeterConversion(TestCase):
|
||||
"""Makes sure the conversion between meters and radians works."""
|
||||
|
||||
@given(_POSITIVE_FLOATS)
|
||||
def test_is_reversible_float(self, meters: float) -> None:
|
||||
"""Tests that the two functions are the reverse of each other."""
|
||||
self.assertAlmostEqual(meters, rad2meters(meters2rad(meters)), places=5)
|
||||
|
||||
@given(st_numpy.arrays(dtype=float, shape=st_numpy.array_shapes(), elements=_POSITIVE_FLOATS))
|
||||
def test_is_reversible_numpy(self, meters: np.ndarray) -> None: # pylint: disable=no-self-use
|
||||
"""Tests that the two functions are the reverse of each other."""
|
||||
assert_almost_equal(meters, rad2meters(meters2rad(meters)), decimal=5)
|
||||
|
||||
|
||||
class TestCartesianToSpherical(TestCase):
|
||||
"""Makes sure the conversion from cartesian to spherical coordinates works."""
|
||||
|
||||
def test_raises_if_not_on_unit_sphere(self) -> None:
|
||||
"""Asserts that an exception is raised if values are not on the unit sphere."""
|
||||
with self.assertRaises(AssertionError):
|
||||
cartesian_to_spherical(np.array([(10, 20, 30)]))
|
||||
|
||||
def test_specific_values(self) -> None: # pylint: disable=no-self-use
|
||||
"""Asserts that an exception is raised if values are not on the unit sphere."""
|
||||
data_in = np.array([(1, 0, 0), (0, 1, 0), (0, 0, 1), (0.5, 0.5, np.sqrt(1 - 0.5**2 - 0.5**2))])
|
||||
expected_data_out = np.array([(0, 0), (0, np.pi / 2), (-np.pi / 2, 0), (-np.pi / 4, np.pi / 4)]).T
|
||||
|
||||
assert_almost_equal(cartesian_to_spherical(data_in), expected_data_out)
|
||||
|
||||
|
||||
class TestAngleAndCoordinateMean(TestCase):
|
||||
"""Makes sure the mean computation and angles and coordinates works correctly."""
|
||||
|
||||
@given(geo_bearings(), st.floats(min_value=0.0, max_value=1e-9))
|
||||
def test_raises_if_ambiguous(self, angle: float, noise: float) -> None:
|
||||
"""Asserts that an exception is raised if no sensible mean can be calculated."""
|
||||
|
||||
ambiguous_pair = np.array([angle, (angle + 180 + noise) % 360])
|
||||
with self.assertRaises(ValueError):
|
||||
mean_angle(np.radians(ambiguous_pair))
|
||||
with self.assertRaises(ValueError):
|
||||
mean_coordinate(np.array([0.0, 67.2]), ambiguous_pair)
|
||||
|
||||
# But the methods should recover from an exception on the latitude mean computation
|
||||
latitude, _ = mean_coordinate(ambiguous_pair, np.array([0.0, 67.2]))
|
||||
self.assertAlmostEqual(latitude, 0.0)
|
||||
|
||||
@given(
|
||||
st_numpy.arrays(
|
||||
elements=st.floats(min_value=0.0, max_value=np.pi), dtype=float, shape=st_numpy.array_shapes()
|
||||
)
|
||||
)
|
||||
def test_mean_angle_is_in_valid_range(self, data: np.ndarray) -> None:
|
||||
"""Asserts that means are never negative and always between ``0°`` and ``360°``."""
|
||||
|
||||
try:
|
||||
mean = mean_angle(data)
|
||||
self.assertGreaterEqual(mean, 0.0)
|
||||
self.assertLessEqual(mean, np.pi)
|
||||
|
||||
except ValueError:
|
||||
pass # this might happen with the generated values and is okay
|
||||
|
||||
@given(geo_bearings(), st.floats(min_value=0.0, max_value=170))
|
||||
def test_obvious_values_angle(self, angle: float, difference: float) -> None:
|
||||
"""Asserts that the result is sensible for known values."""
|
||||
|
||||
mean = mean_angle(np.radians(np.array([angle, (angle + difference) % 360])))
|
||||
self.assertAlmostEqual(mean, np.radians((angle + difference / 2)) % tau, delta=1e-6)
|
||||
|
||||
@given(
|
||||
st.floats(min_value=-80.0, max_value=+80.0),
|
||||
st.floats(min_value=-170.0, max_value=+170.0),
|
||||
st.floats(min_value=-9.0, max_value=9.0),
|
||||
st.floats(min_value=-9.0, max_value=9.0),
|
||||
)
|
||||
def test_obvious_values_coordinate(
|
||||
self, latitude: float, longitude: float, lat_delta: float, lon_delta: float
|
||||
) -> None:
|
||||
"""Asserts that the result is sensible for known values."""
|
||||
|
||||
lat_mean, lon_mean = mean_coordinate(
|
||||
latitudes=np.array([latitude, latitude + lat_delta]),
|
||||
longitudes=np.array([longitude, longitude + lon_delta]),
|
||||
)
|
||||
self.assertLessEqual(difference_latitude(lat_mean, (latitude + lat_delta / 2)), 1e-6)
|
||||
self.assertLessEqual(difference_longitude(lon_mean, (longitude + lon_delta / 2)), 1e-6)
|
||||
34
pyrate/tests/plan/geometry/helpers/test_translate.py
Normal file
34
pyrate/tests/plan/geometry/helpers/test_translate.py
Normal file
@ -0,0 +1,34 @@
|
||||
"""This module asserts correct runtime behaviour of the :mod:`pyrate.plan.geometry.helpers` functions
|
||||
for translation.
|
||||
|
||||
Note that most of the correctness is asserted by the use in
|
||||
:meth:`pyrate.plan.geometry.PolarPolygon.translate` and :meth:`pyrate.plan.geometry.PolarRoute.translate`.
|
||||
Also, no extensive tests are needed since we trust the underlying library due to its widespread adoption and
|
||||
maturity.
|
||||
We only need to check that the conversion of parameters and results works as expcted.
|
||||
"""
|
||||
|
||||
# Testing
|
||||
from unittest import TestCase
|
||||
|
||||
# Scientific (testing)
|
||||
from numpy import array
|
||||
|
||||
# Module under test
|
||||
from pyrate.plan.geometry.helpers import translate_numpy
|
||||
|
||||
|
||||
class TestTranslate(TestCase):
|
||||
"""Tests the translation helpers."""
|
||||
|
||||
COORDINATES = array([[1.0, 2.0], [3.0, -4.0], [-5.0, 6.0]])
|
||||
DIRECTIONS = array([0.0, 90.0, -90.0])
|
||||
DISTANCES = array([1.0, 100.0, 10000.0])
|
||||
|
||||
def test_translate_numpy(self) -> None: # pylint: disable=no-self-use
|
||||
"""Test that any combination of types of input are accepted."""
|
||||
|
||||
translate_numpy(TestTranslate.COORDINATES, TestTranslate.DIRECTIONS, TestTranslate.DISTANCES)
|
||||
translate_numpy(TestTranslate.COORDINATES, 90, TestTranslate.DISTANCES)
|
||||
translate_numpy(TestTranslate.COORDINATES, TestTranslate.DIRECTIONS, 100)
|
||||
translate_numpy(TestTranslate.COORDINATES, 90, 100)
|
||||
53
pyrate/tests/plan/geometry/primitives/__init__.py
Normal file
53
pyrate/tests/plan/geometry/primitives/__init__.py
Normal file
@ -0,0 +1,53 @@
|
||||
"""This module asserts correct runtime behaviour of the :mod:`pyrate.plan.geometry` primitives for
|
||||
locations, polygons and trajectories.
|
||||
|
||||
Quite a few tests are marked with ``@settings(max_examples=<some small count>)`` since this test suite makes
|
||||
up a very large part of the total testing time and some tests just don't justify wasting many resources on
|
||||
them due to very simple code being tested.
|
||||
"""
|
||||
|
||||
# Python standard math
|
||||
from math import isclose
|
||||
|
||||
# Typing
|
||||
from typing import Union
|
||||
|
||||
# Hypothesis testing
|
||||
from hypothesis import HealthCheck
|
||||
from hypothesis import settings
|
||||
|
||||
# Package under test
|
||||
from pyrate.plan.geometry import PolarLocation
|
||||
from pyrate.plan.geometry import PolarPolygon
|
||||
from pyrate.plan.geometry import PolarRoute
|
||||
|
||||
|
||||
#: Tests that require the generation of cartesian routes are slow since the generation of examples is slow.
|
||||
#: As polar routes, cartesian polygons and polar polygons depend on this, they are also run at reduced rate.
|
||||
slow_route_max_examples = settings(
|
||||
max_examples=int(settings().max_examples * 0.1), suppress_health_check=(HealthCheck.too_slow,)
|
||||
)
|
||||
|
||||
|
||||
#: A test that only tests very few examples since the property to be tested is rather trivial and we do not
|
||||
#: want to invest significant amounts of time into it.
|
||||
simple_property_only_few_examples = settings(
|
||||
max_examples=int(max(5, settings().max_examples * 0.001)), suppress_health_check=(HealthCheck.too_slow,)
|
||||
)
|
||||
|
||||
|
||||
def is_near_special_point(polar_location: PolarLocation, tolerance: float = 1e-6) -> bool:
|
||||
"""Checks if the given ``polar_location`` is within ``tolerance`` of the poles or +/- 180° longitude."""
|
||||
return (
|
||||
isclose(polar_location.latitude, -90, abs_tol=tolerance)
|
||||
or isclose(polar_location.latitude, +90, abs_tol=tolerance)
|
||||
or isclose(polar_location.longitude, -180, abs_tol=tolerance)
|
||||
or isclose(polar_location.longitude, +180, abs_tol=tolerance)
|
||||
)
|
||||
|
||||
|
||||
def is_any_near_special_point(
|
||||
polar_line_object: Union[PolarPolygon, PolarRoute], tolerance: float = 1e-6
|
||||
) -> bool:
|
||||
"""Checks if any point in in the given geometry ``is_near_special_point`` within the ``tolerance``."""
|
||||
return any(is_near_special_point(location, tolerance) for location in polar_line_object.locations)
|
||||
44
pyrate/tests/plan/geometry/primitives/test_common.py
Normal file
44
pyrate/tests/plan/geometry/primitives/test_common.py
Normal file
@ -0,0 +1,44 @@
|
||||
"""Tests some general properties of geometries."""
|
||||
|
||||
# Generic testing
|
||||
from unittest import TestCase
|
||||
|
||||
# Scientific testing
|
||||
from numpy.testing import assert_array_almost_equal
|
||||
|
||||
# Hypothesis testing
|
||||
from hypothesis import given
|
||||
import hypothesis.strategies as st
|
||||
|
||||
# Package under test
|
||||
from pyrate.plan.geometry import CartesianGeometry
|
||||
|
||||
# Test helpers
|
||||
from pyrate.common.testing.strategies.geometry import cartesian_objects
|
||||
from pyrate.common.testing.strategies.geometry import geo_bearings
|
||||
|
||||
|
||||
class TestCartesianGeometries(TestCase):
|
||||
"""Asserts general properties of the cartesian geometries."""
|
||||
|
||||
@given(
|
||||
cartesian_objects(),
|
||||
geo_bearings(),
|
||||
st.floats(min_value=1.0, max_value=100_000.0),
|
||||
)
|
||||
def test_translation_is_invertible(
|
||||
self,
|
||||
original: CartesianGeometry,
|
||||
direction: float,
|
||||
distance: float,
|
||||
) -> None:
|
||||
"""Tests that translation is invertible and a valid backwards vector is returned."""
|
||||
|
||||
# translate & translate back
|
||||
translated, back_vector = original.translate(direction, distance)
|
||||
back_direction = (direction + 180) % 360
|
||||
translated_translated, back_back_vector = translated.translate(back_direction, distance)
|
||||
|
||||
# check the result
|
||||
assert_array_almost_equal(back_vector, -back_back_vector, decimal=9)
|
||||
self.assertTrue(original.equals_exact(translated_translated, tolerance=1e-9))
|
||||
217
pyrate/tests/plan/geometry/primitives/test_geospatial.py
Normal file
217
pyrate/tests/plan/geometry/primitives/test_geospatial.py
Normal file
@ -0,0 +1,217 @@
|
||||
"""Tests that the geometry base classes in :mod:`pyrate.plan.geometry.geospatial` work correctly."""
|
||||
|
||||
# Python standard
|
||||
from copy import copy
|
||||
from copy import deepcopy
|
||||
from json import loads
|
||||
|
||||
# Typing
|
||||
from typing import Any
|
||||
from typing import Sequence
|
||||
from typing import Tuple
|
||||
|
||||
# Generic testing
|
||||
from unittest import TestCase
|
||||
|
||||
# Hypothesis testing
|
||||
from hypothesis import given
|
||||
from hypothesis import HealthCheck
|
||||
from hypothesis import Phase
|
||||
from hypothesis import settings
|
||||
import hypothesis.strategies as st
|
||||
|
||||
# Package under test
|
||||
from pyrate.plan.geometry import CartesianLocation
|
||||
from pyrate.plan.geometry import CartesianPolygon
|
||||
from pyrate.plan.geometry import CartesianRoute
|
||||
from pyrate.plan.geometry import Direction
|
||||
from pyrate.plan.geometry import Geospatial
|
||||
from pyrate.plan.geometry import PolarLocation
|
||||
from pyrate.plan.geometry import PolarPolygon
|
||||
from pyrate.plan.geometry import PolarRoute
|
||||
|
||||
# Hypothesis testing
|
||||
from pyrate.common.testing.strategies.geometry import geospatial_objects
|
||||
|
||||
|
||||
_CARTESIAN_LOCATION_1 = CartesianLocation(5003.0, 139.231)
|
||||
_CARTESIAN_LOCATION_2 = CartesianLocation(600.1, 139.231)
|
||||
_POLAR_LOCATION_1 = PolarLocation(65.01, -180.0)
|
||||
_POLAR_LOCATION_2 = PolarLocation(-80.3, -180.0)
|
||||
|
||||
|
||||
class TestStringRepresentations(TestCase):
|
||||
"""Makes sure that the string conversion with ``__str__`` and ``__repr__`` works."""
|
||||
|
||||
_GROUND_TRUTH: Sequence[Tuple[Geospatial, str]] = [
|
||||
(
|
||||
_CARTESIAN_LOCATION_1,
|
||||
"CartesianLocation(east=5003.0, north=139.231)",
|
||||
),
|
||||
(
|
||||
PolarLocation(65.01, -180.0),
|
||||
"PolarLocation(latitude=65.00999999999999, longitude=-180.0)",
|
||||
),
|
||||
(
|
||||
CartesianPolygon([_CARTESIAN_LOCATION_1, _CARTESIAN_LOCATION_1, _CARTESIAN_LOCATION_1]),
|
||||
"CartesianPolygon(locations=[(5003.0, 139.231), (5003.0, 139.231), (5003.0, 139.231), "
|
||||
"(5003.0, 139.231)])",
|
||||
),
|
||||
(
|
||||
PolarPolygon([_POLAR_LOCATION_1, _POLAR_LOCATION_1, _POLAR_LOCATION_1]),
|
||||
"PolarPolygon(locations=[PolarLocation(latitude=65.00999999999999, longitude=-180.0), "
|
||||
"PolarLocation(latitude=65.00999999999999, longitude=-180.0), "
|
||||
"PolarLocation(latitude=65.00999999999999, longitude=-180.0)])",
|
||||
),
|
||||
(
|
||||
CartesianRoute([_CARTESIAN_LOCATION_1, _CARTESIAN_LOCATION_2, _CARTESIAN_LOCATION_1]),
|
||||
"CartesianRoute(locations=[(5003.0, 139.231), (600.1, 139.231), (5003.0, 139.231)])",
|
||||
),
|
||||
(
|
||||
PolarRoute([_POLAR_LOCATION_1, _POLAR_LOCATION_2, _POLAR_LOCATION_1, _POLAR_LOCATION_1]),
|
||||
"PolarRoute(locations=[PolarLocation(latitude=65.00999999999999, longitude=-180.0), "
|
||||
"PolarLocation(latitude=-80.3, longitude=-180.0), "
|
||||
"PolarLocation(latitude=65.00999999999999, longitude=-180.0), "
|
||||
"PolarLocation(latitude=65.00999999999999, longitude=-180.0)])",
|
||||
),
|
||||
]
|
||||
|
||||
def test_conversions(self) -> None:
|
||||
"""Makes sure that all given geospatial objects can be converted."""
|
||||
|
||||
for geospatial, desired_str in TestStringRepresentations._GROUND_TRUTH:
|
||||
|
||||
with self.subTest(f"{type(geospatial)}.__str__"):
|
||||
self.assertEqual(str(geospatial), desired_str)
|
||||
|
||||
with self.subTest(f"{type(geospatial)}.__repr__"):
|
||||
self.assertEqual(repr(geospatial), desired_str)
|
||||
|
||||
|
||||
class TestGeoJsonRepresentations(TestCase):
|
||||
"""Makes sure that the conversion to GeoJSON via the common property ``__geo_interface__`` works."""
|
||||
|
||||
_GROUND_TRUTH: Sequence[Tuple[Geospatial, str]] = [
|
||||
(
|
||||
_CARTESIAN_LOCATION_1,
|
||||
'{"type": "Feature", "geometry": {"type": "Point", '
|
||||
'"coordinates": [5003.0, 139.231]}, "properties": {}}',
|
||||
),
|
||||
(
|
||||
PolarLocation(65.01, -180.0),
|
||||
'{"type": "Feature", "geometry": {"type": "Point", "coordinates": [-180.0, 65.01]}, '
|
||||
'"properties": {}}',
|
||||
),
|
||||
(
|
||||
CartesianPolygon([_CARTESIAN_LOCATION_1, _CARTESIAN_LOCATION_1, _CARTESIAN_LOCATION_1]),
|
||||
'{"type": "Feature", "geometry": {"type": "Polygon", "coordinates": '
|
||||
"[[[5003.0, 139.231], [5003.0, 139.231], [5003.0, 139.231], [5003.0, 139.231]]]}, "
|
||||
'"properties": {}}',
|
||||
),
|
||||
(
|
||||
PolarPolygon([_POLAR_LOCATION_1, _POLAR_LOCATION_1, _POLAR_LOCATION_1]),
|
||||
'{"type": "Feature", "geometry": {"type": "Polygon", '
|
||||
'"coordinates": [[[-180.0, 65.01], [-180.0, 65.01], [-180.0, 65.01]]]}, "properties": {}}',
|
||||
),
|
||||
(
|
||||
CartesianRoute([_CARTESIAN_LOCATION_1, _CARTESIAN_LOCATION_2, _CARTESIAN_LOCATION_1]),
|
||||
'{"type": "Feature", "geometry": {"type": "LineString", "coordinates": '
|
||||
'[[5003.0, 139.231], [600.1, 139.231], [5003.0, 139.231]]}, "properties": {}}',
|
||||
),
|
||||
(
|
||||
PolarRoute([_POLAR_LOCATION_1, _POLAR_LOCATION_2, _POLAR_LOCATION_1]),
|
||||
'{"type": "Feature", "geometry": {"type": "LineString", "coordinates": '
|
||||
'[[-180.0, 65.01], [-180.0, -80.3], [-180.0, 65.01]]}, "properties": {}}',
|
||||
),
|
||||
]
|
||||
|
||||
def test_conversions(self) -> None:
|
||||
"""Makes sure that all given geospatial objects can be converted."""
|
||||
|
||||
for geospatial, desired_geojson in TestGeoJsonRepresentations._GROUND_TRUTH:
|
||||
for indent in (None, 1, 8):
|
||||
with self.subTest(f"{type(geospatial)} with indent={indent}"):
|
||||
geojson = geospatial.to_geo_json(indent=indent)
|
||||
# load as JSON get get better error messages and become whitespace independent
|
||||
self.assertDictEqual(loads(geojson), loads(desired_geojson))
|
||||
|
||||
|
||||
class TestIdentifiers(TestCase):
|
||||
"""Makes sure that identifiers are validated correctly.
|
||||
|
||||
The test is only performed on polar locations for simplicity and because validation is handled in the
|
||||
abstract common parent class :class:`pyrate.plan.geometry.Geospatial` anyway.
|
||||
"""
|
||||
|
||||
@given(st.integers(min_value=0, max_value=(2**63) - 1))
|
||||
def test_on_locations_success(self, integer: int) -> None: # pylint: disable=no-self-use
|
||||
"""Tests that valid identifiers are accepted."""
|
||||
PolarLocation(latitude=0.0, longitude=0.0, identifier=integer)
|
||||
|
||||
@given(
|
||||
st.one_of(
|
||||
st.integers(max_value=-1), # negative numbers
|
||||
st.integers(min_value=2**63), # very large numbers
|
||||
)
|
||||
)
|
||||
def test_on_locations_rejected(self, integer: int) -> None:
|
||||
"""Tests that invalid identifiers are rejected."""
|
||||
with self.assertRaises(AssertionError):
|
||||
PolarLocation(latitude=0.0, longitude=0.0, identifier=integer)
|
||||
|
||||
|
||||
class TestEqualityMethods(TestCase):
|
||||
"""Test the various equality methods."""
|
||||
|
||||
@given(geospatial_objects(stable=True))
|
||||
@settings(
|
||||
max_examples=200,
|
||||
suppress_health_check=(HealthCheck.data_too_large,),
|
||||
phases=(Phase.explicit, Phase.reuse, Phase.generate, Phase.target), # Do not shrink as it takes long
|
||||
)
|
||||
def test_equality_after_translation(self, geospatial: Any) -> None:
|
||||
"""Tests that translated objects are only equal under sufficient tolerance."""
|
||||
|
||||
# We discard the second output since it differs between cartesian and polar objects
|
||||
translated, _ = geospatial.translate(direction=Direction.North, distance=0.5)
|
||||
|
||||
# Try since generated primitives might cause an exception to be thrown
|
||||
# e.g. if projected routes become length 0
|
||||
try:
|
||||
# They should not be equal
|
||||
self.assertNotEqual(geospatial, translated)
|
||||
self.assertFalse(geospatial.equals(translated))
|
||||
self.assertFalse(geospatial.equals_exact(translated, tolerance=0.0))
|
||||
if hasattr(geospatial, "equals_almost_congruent"):
|
||||
self.assertFalse(
|
||||
geospatial.equals_almost_congruent(translated, abs_tolerance=0.0, rel_tolerance=0.0)
|
||||
)
|
||||
|
||||
# They should be equal within some tolerance (the tolerance needs to be large for the polar
|
||||
# variants)
|
||||
# TODO(Someone): re-enable; see #114
|
||||
# self.assertTrue(geospatial.equals_exact(translated, tolerance=5))
|
||||
# self.assertTrue(geospatial.almost_equals(translated, decimal=-1))
|
||||
|
||||
# We do not use `equals_almost_congruent` as it is not a per-coordinate difference and might cause
|
||||
# a very large symmetric difference on very large objects
|
||||
|
||||
except ValueError:
|
||||
pass
|
||||
|
||||
|
||||
class TestCopyAndDeepcopy(TestCase):
|
||||
"""Tests that all geometric objects can be deep-copied."""
|
||||
|
||||
@given(geospatial_objects())
|
||||
@settings(max_examples=500)
|
||||
def test_is_copyable(self, geospatial: Any) -> None:
|
||||
"""Tests that copies can be made and are equal to the original."""
|
||||
|
||||
# Check copy
|
||||
copied = copy(geospatial)
|
||||
self.assertEqual(geospatial, copied)
|
||||
|
||||
# Check deepcopy
|
||||
deep_copied = deepcopy(geospatial)
|
||||
self.assertEqual(geospatial, deep_copied)
|
||||
173
pyrate/tests/plan/geometry/primitives/test_locations.py
Normal file
173
pyrate/tests/plan/geometry/primitives/test_locations.py
Normal file
@ -0,0 +1,173 @@
|
||||
"""Tests that the location classes in :mod:`pyrate.plan.geometry.location` work correctly."""
|
||||
|
||||
# Python standard math
|
||||
from math import isclose
|
||||
|
||||
# Typing
|
||||
from typing import cast
|
||||
|
||||
# Generic testing
|
||||
from unittest import TestCase
|
||||
|
||||
# Geometry
|
||||
from shapely.geometry import Point
|
||||
|
||||
# Hypothesis testing
|
||||
from hypothesis import given
|
||||
from hypothesis import HealthCheck
|
||||
from hypothesis import settings
|
||||
import hypothesis.strategies as st
|
||||
|
||||
# Package under test
|
||||
from pyrate.plan.geometry import CartesianLocation
|
||||
from pyrate.plan.geometry import PolarLocation
|
||||
|
||||
# Test helpers
|
||||
from pyrate.common.testing.strategies.geometry import cartesian_locations
|
||||
from pyrate.common.testing.strategies.geometry import geo_bearings
|
||||
from pyrate.common.testing.strategies.geometry import polar_locations
|
||||
|
||||
# Local test helpers
|
||||
from . import is_near_special_point
|
||||
from . import simple_property_only_few_examples
|
||||
|
||||
|
||||
class TestLocationConversion(TestCase):
|
||||
"""Test for correct runtime behaviour in :mod:`pyrate.plan` location and shape primitives."""
|
||||
|
||||
@given(cartesian_locations(origin=polar_locations()))
|
||||
@settings(max_examples=20, suppress_health_check=(HealthCheck.data_too_large,)) # this is a slow test
|
||||
def test_projection_and_back_projection_origin_in_route(
|
||||
self, cartesian_location: CartesianLocation
|
||||
) -> None:
|
||||
"""Test the projection with an origin already being present in the geometry."""
|
||||
recreated = cartesian_location.to_polar().to_cartesian(cast(PolarLocation, cartesian_location.origin))
|
||||
self.assertTrue(recreated.equals_exact(recreated, tolerance=1e-6))
|
||||
|
||||
@given(cartesian_locations(origin=st.none()), polar_locations())
|
||||
@simple_property_only_few_examples # this only checks very simple additional logic
|
||||
def test_projection_and_back_projection_origin_given_extra(
|
||||
self, cartesian_location: CartesianLocation, origin: PolarLocation
|
||||
) -> None:
|
||||
"""Test the projection with an origin being provided."""
|
||||
recreated = cartesian_location.to_polar(origin).to_cartesian(origin)
|
||||
self.assertTrue(recreated.equals_exact(recreated, tolerance=1e-6))
|
||||
|
||||
@given(cartesian_locations(origin=st.none()))
|
||||
@simple_property_only_few_examples # this only checks very simple additional logic
|
||||
def test_projection_and_back_projection_origin_not_given(
|
||||
self, cartesian_location: CartesianLocation
|
||||
) -> None:
|
||||
"""Test the projection with no origin being given."""
|
||||
with self.assertRaises(ValueError):
|
||||
cartesian_location.to_polar()
|
||||
|
||||
@given(cartesian_locations(origin=polar_locations()), polar_locations())
|
||||
@simple_property_only_few_examples # this only checks very simple additional logic
|
||||
def test_projection_and_back_projection_origin_given_twice(
|
||||
self, cartesian_location: CartesianLocation, origin: PolarLocation
|
||||
) -> None:
|
||||
"""Test the projection with ambiguous origin being provided."""
|
||||
with self.assertRaises(ValueError):
|
||||
cartesian_location.to_polar(origin)
|
||||
|
||||
def test_distance_measuring_specific(self) -> None:
|
||||
"""Tests a specific input/output pair."""
|
||||
|
||||
location_a = PolarLocation(latitude=55.6544, longitude=139.74477)
|
||||
location_b = PolarLocation(latitude=21.4225, longitude=39.8261)
|
||||
distance = location_a.distance(location_b, approximate=False)
|
||||
self.assertAlmostEqual(distance, 8_665_850.116876071)
|
||||
|
||||
@given(
|
||||
polar_locations(),
|
||||
geo_bearings(),
|
||||
st.floats(min_value=1.0, max_value=100_000.0, allow_nan=False, allow_infinity=False),
|
||||
)
|
||||
def test_translation_is_invertible(
|
||||
self, original: PolarLocation, direction: float, distance: float
|
||||
) -> None:
|
||||
"""Tests that translation is invertible and a valid bearing is returned.
|
||||
|
||||
Warning:
|
||||
Only tests in-depth in the case where latitudes and longitudes are not near the poles.
|
||||
"""
|
||||
|
||||
# translate
|
||||
translated, back_direction = original.translate(direction, distance)
|
||||
self.assertGreaterEqual(back_direction, 0.0)
|
||||
self.assertLess(back_direction, 360.0)
|
||||
|
||||
# translate back
|
||||
translated_translated, back_back_direction = translated.translate(back_direction, distance)
|
||||
self.assertGreaterEqual(back_back_direction, 0.0)
|
||||
self.assertLess(back_back_direction, 360.0)
|
||||
|
||||
# the method seems to have problems at poles
|
||||
if not is_near_special_point(original) and not is_near_special_point(translated):
|
||||
# the method is rather rough, so we want to add larger tolerances than usual while checking
|
||||
self.assertTrue(isclose(direction, back_back_direction, abs_tol=1e-6))
|
||||
self.assertTrue(original.equals_exact(translated_translated, 1e-6))
|
||||
|
||||
@given(cartesian_locations())
|
||||
def test_from_shapely_conversion(self, cartesian_location: CartesianLocation) -> None:
|
||||
"""Test that :meth:`pyrate.plan.geometry.location.CartesianLocation.from_shapely` works."""
|
||||
|
||||
# we only want to compare the coordinates, so create a new instance without the identifier, name, etc.
|
||||
bare = CartesianLocation(cartesian_location.x, cartesian_location.y)
|
||||
bare_shapely = Point(cartesian_location.x, cartesian_location.y)
|
||||
recreated = CartesianLocation.from_shapely(bare_shapely)
|
||||
self.assertEqual(recreated, bare)
|
||||
|
||||
|
||||
class TestPolarLocationDistanceIsAMetric(TestCase):
|
||||
"""Makes sure that :meth:`~pyrate.plan.geometry.location.PolarLocation.distance` is a metric.
|
||||
|
||||
This should always succeed since we use a very stable external library for this.
|
||||
|
||||
See `Wikipedia <https://en.wikipedia.org/wiki/Metric_(mathematics)#Definition>`__ for the axioms.
|
||||
"""
|
||||
|
||||
@given(polar_locations(), polar_locations(), st.booleans())
|
||||
def test_distance_measuring_commutes_and_sanity_checks(
|
||||
self, location_a: PolarLocation, location_b: PolarLocation, approximate: bool
|
||||
) -> None:
|
||||
"""Assures flipping the sides when calculating distances does not make a significant difference."""
|
||||
|
||||
distance_1 = location_a.distance(location_b, approximate)
|
||||
distance_2 = location_b.distance(location_a, approximate)
|
||||
|
||||
# make sure it commutes
|
||||
self.assertAlmostEqual(distance_1, distance_2)
|
||||
|
||||
# make sure the distance is always positive
|
||||
self.assertGreaterEqual(distance_1, 0.0)
|
||||
self.assertGreaterEqual(distance_2, 0.0)
|
||||
|
||||
@given(polar_locations(), polar_locations(), polar_locations(), st.booleans())
|
||||
def test_distance_measuring_triangle_inequality(
|
||||
self,
|
||||
location_a: PolarLocation,
|
||||
location_b: PolarLocation,
|
||||
location_c: PolarLocation,
|
||||
approximate: bool,
|
||||
) -> None:
|
||||
"""Assures flipping the sides when calculating distances does not make a significant difference."""
|
||||
|
||||
distance_a_b = location_a.distance(location_b, approximate)
|
||||
distance_b_c = location_b.distance(location_c, approximate)
|
||||
distance_a_c = location_a.distance(location_c, approximate)
|
||||
|
||||
# allow for floating point errors
|
||||
abs_tolerance = 1e-6 # 1 micro meter
|
||||
self.assertGreaterEqual(distance_a_b + distance_b_c + abs_tolerance, distance_a_c)
|
||||
|
||||
@given(polar_locations(), st.booleans())
|
||||
def test_distance_measuring_to_itself_is_zero(self, location: PolarLocation, approximate: bool) -> None:
|
||||
"""Assures flipping the sides when calculating distances does not make a significant difference."""
|
||||
|
||||
distance = location.distance(location, approximate)
|
||||
|
||||
# make sure the distance is always positive and very close to zero
|
||||
self.assertGreaterEqual(distance, 0.0)
|
||||
self.assertAlmostEqual(distance, 0.0)
|
||||
266
pyrate/tests/plan/geometry/primitives/test_polygons.py
Normal file
266
pyrate/tests/plan/geometry/primitives/test_polygons.py
Normal file
@ -0,0 +1,266 @@
|
||||
"""Tests that the polygon classes in :mod:`pyrate.plan.geometry.polygon` work correctly."""
|
||||
|
||||
# Python standard math
|
||||
from math import sqrt
|
||||
|
||||
# Typing
|
||||
from typing import cast
|
||||
|
||||
# Generic testing
|
||||
from unittest import TestCase
|
||||
|
||||
# Geometry
|
||||
from shapely.geometry import Polygon
|
||||
|
||||
# Scientific
|
||||
from numpy import array
|
||||
|
||||
# Scientific testing
|
||||
from numpy.testing import assert_array_less
|
||||
|
||||
# Hypothesis testing
|
||||
from hypothesis import given
|
||||
import hypothesis.strategies as st
|
||||
|
||||
# Package under test
|
||||
from pyrate.plan.geometry import CartesianPolygon
|
||||
from pyrate.plan.geometry import LocationType
|
||||
from pyrate.plan.geometry import PolarLocation
|
||||
from pyrate.plan.geometry import PolarPolygon
|
||||
|
||||
# Test helpers
|
||||
from pyrate.common.testing.strategies.geometry import cartesian_polygons
|
||||
from pyrate.common.testing.strategies.geometry import geo_bearings
|
||||
from pyrate.common.testing.strategies.geometry import polar_locations
|
||||
from pyrate.common.testing.strategies.geometry import polar_polygons
|
||||
|
||||
# Local test helpers
|
||||
from . import is_any_near_special_point
|
||||
from . import simple_property_only_few_examples
|
||||
from . import slow_route_max_examples
|
||||
|
||||
|
||||
class TestPolarPolygons(TestCase):
|
||||
"""Asserts general properties of the polar polygons."""
|
||||
|
||||
@given(polar_polygons())
|
||||
@slow_route_max_examples
|
||||
def test_area_is_non_negative(self, polar_polygon: PolarPolygon) -> None:
|
||||
"""Tests that all areas are non-negative."""
|
||||
self.assertGreaterEqual(polar_polygon.area, 0, "areas must be non-negative")
|
||||
|
||||
@given(polar_polygons())
|
||||
@slow_route_max_examples
|
||||
def test_is_valid(self, polygon: PolarPolygon) -> None:
|
||||
"""Test that the generated polygons are valid."""
|
||||
|
||||
self.assertTrue(polygon.is_valid)
|
||||
|
||||
def test_is_not_valid(self) -> None:
|
||||
"""Test that a known invalid polygon is detected as such."""
|
||||
|
||||
location = PolarLocation(12, 23.999)
|
||||
polygon = PolarPolygon([location, location, location])
|
||||
self.assertFalse(polygon.is_valid)
|
||||
|
||||
@given(polar_polygons(), polar_locations(), st.booleans())
|
||||
@slow_route_max_examples
|
||||
def test_distance_to_vertices_is_non_negative(
|
||||
self, polar_polygon: PolarPolygon, polar_location: PolarLocation, approximate: bool
|
||||
) -> None:
|
||||
"""Tests that all distances to vertices are non-negative."""
|
||||
distance = polar_polygon.distance_to_vertices(polar_location, approximate)
|
||||
self.assertGreaterEqual(distance, 0, "distances must be non-negative")
|
||||
|
||||
@given(polar_polygons(max_vertices=50))
|
||||
@slow_route_max_examples
|
||||
def test_simplification(self, original: PolarPolygon) -> None:
|
||||
"""Checks the the area change is valid and the rough position is preserved."""
|
||||
|
||||
simplified = original.simplify(tolerance=sqrt(original.area) / 10)
|
||||
|
||||
self.assertLessEqual(len(simplified.locations), len(original.locations))
|
||||
self.assertTrue(original.almost_congruent(simplified, rel_tolerance=0.3))
|
||||
|
||||
@given(polar_polygons())
|
||||
@slow_route_max_examples
|
||||
def test_simplification_artificial(self, original: PolarPolygon) -> None:
|
||||
"""This duplicates the first point and looks whether it is removed."""
|
||||
|
||||
locations = original.locations
|
||||
original.locations = [locations[0]] + locations
|
||||
|
||||
simplified = original.simplify(tolerance=sqrt(original.area) / 1000)
|
||||
|
||||
# strictly less, as opposed to test_simplification()
|
||||
self.assertLess(len(simplified.locations), len(original.locations))
|
||||
self.assertTrue(original.almost_congruent(simplified, rel_tolerance=0.05))
|
||||
|
||||
@given(polar_polygons())
|
||||
@simple_property_only_few_examples # this only checks the call signatures so no need for many examples
|
||||
def test_numpy_conversion_invertible(self, polar_polygon: PolarPolygon) -> None:
|
||||
"""Tests that the polygon conversion can be inverted."""
|
||||
recreated = PolarPolygon.from_numpy(
|
||||
polar_polygon.to_numpy(),
|
||||
name=polar_polygon.name,
|
||||
location_type=polar_polygon.location_type,
|
||||
identifier=polar_polygon.identifier,
|
||||
)
|
||||
self.assertEqual(polar_polygon, recreated)
|
||||
|
||||
@given(
|
||||
st.sampled_from(
|
||||
[
|
||||
PolarPolygon(
|
||||
locations=[
|
||||
PolarLocation(latitude=-76.40057132099628, longitude=-171.92454675519284),
|
||||
PolarLocation(latitude=-76.40057132099628, longitude=-171.92454675519284),
|
||||
PolarLocation(latitude=-76.40057132099628, longitude=-171.92454675519284),
|
||||
],
|
||||
name="K",
|
||||
),
|
||||
PolarPolygon(
|
||||
locations=[
|
||||
PolarLocation(latitude=-33.68964326163993, longitude=89.95053943144632),
|
||||
PolarLocation(latitude=-33.68964326163993, longitude=89.95053943144632),
|
||||
PolarLocation(latitude=-33.68964326163993, longitude=89.95053943144632),
|
||||
PolarLocation(latitude=-33.68964326163993, longitude=89.95053943144632),
|
||||
PolarLocation(latitude=-33.68964326163993, longitude=89.95053943144632),
|
||||
PolarLocation(latitude=-33.68964326163993, longitude=89.95053943144632),
|
||||
PolarLocation(latitude=-33.68964326163993, longitude=89.95053943144632),
|
||||
],
|
||||
location_type=LocationType.TESTING,
|
||||
name="_1",
|
||||
),
|
||||
PolarPolygon(
|
||||
locations=[
|
||||
PolarLocation(latitude=0.0, longitude=0.029771743643124182),
|
||||
PolarLocation(latitude=0.0, longitude=0.029771743643124182),
|
||||
PolarLocation(latitude=0.0, longitude=0.029771743643124182),
|
||||
PolarLocation(latitude=0.0, longitude=0.029771743643124182),
|
||||
],
|
||||
name="",
|
||||
),
|
||||
]
|
||||
),
|
||||
geo_bearings(),
|
||||
st.floats(min_value=1.0, max_value=100_000.0, allow_nan=False, allow_infinity=False),
|
||||
)
|
||||
def test_translation_is_invertible(
|
||||
self, original: PolarPolygon, direction: float, distance: float
|
||||
) -> None:
|
||||
"""Tests that translation is invertible and a valid bearing is returned.
|
||||
|
||||
Warning:
|
||||
Only tests in-depth in the case where latitudes and longitudes are not near the poles.
|
||||
Since the tests are quite flaky due to the underling library, we only test specific polygons.
|
||||
"""
|
||||
# translate
|
||||
translated, back_direction = original.translate(direction, distance)
|
||||
assert_array_less(0.0 - 1e-12, back_direction)
|
||||
assert_array_less(back_direction, 360.0 + 1e-12)
|
||||
|
||||
# translate back
|
||||
translated_translated, back_back_direction = translated.translate(back_direction[0], distance)
|
||||
assert_array_less(0.0 - 1e-12, back_back_direction)
|
||||
assert_array_less(back_back_direction, 360.0 + 1e-12)
|
||||
|
||||
# the method seems to have problems at poles
|
||||
if not is_any_near_special_point(original) and not is_any_near_special_point(translated):
|
||||
# the method is rather rough, so we want to add larger tolerances than usual while checking
|
||||
self.assertAlmostEqual(direction, back_back_direction[0], delta=0.1)
|
||||
self.assertTrue(original.equals_exact(translated_translated, tolerance=0.1))
|
||||
|
||||
def test_non_finite_from_numpy_raises(self) -> None:
|
||||
"""Tests that invalid parameter to :meth:`~PolarPolygon.from_numpy` warn about it."""
|
||||
|
||||
with self.assertRaises(AssertionError):
|
||||
PolarPolygon.from_numpy(array([(1, 2), (2, 4), (4, float("NaN"))]))
|
||||
with self.assertRaises(AssertionError):
|
||||
PolarPolygon.from_numpy(array([(float("Inf"), 2), (2, 4), (4, 1)]))
|
||||
with self.assertRaises(AssertionError):
|
||||
PolarPolygon.from_numpy(array([(1, 2), (2, float("-Inf")), (4, 4)]))
|
||||
|
||||
|
||||
class TestCartesianPolygons(TestCase):
|
||||
"""Asserts general properties of the cartesian polygons."""
|
||||
|
||||
@given(cartesian_polygons())
|
||||
@simple_property_only_few_examples # this only checks the call signatures so no need for many examples
|
||||
def test_numpy_conversion_invertible(self, cartesian_polygon: CartesianPolygon) -> None:
|
||||
"""Tests that the polygon conversion can be inverted."""
|
||||
recreated = CartesianPolygon.from_numpy(
|
||||
cartesian_polygon.to_numpy(),
|
||||
origin=cartesian_polygon.origin,
|
||||
name=cartesian_polygon.name,
|
||||
location_type=cartesian_polygon.location_type,
|
||||
identifier=cartesian_polygon.identifier,
|
||||
)
|
||||
|
||||
self.assertEqual(cartesian_polygon, recreated)
|
||||
|
||||
@given(cartesian_polygons(origin=polar_locations()))
|
||||
@slow_route_max_examples
|
||||
def test_projection_and_back_projection_origin_in_route(
|
||||
self, cartesian_polygon: CartesianPolygon
|
||||
) -> None:
|
||||
"""Test the projection with an origin already being present in the geometry."""
|
||||
recreated = cartesian_polygon.to_polar().to_cartesian(cast(PolarLocation, cartesian_polygon.origin))
|
||||
self.assertTrue(recreated.equals_exact(recreated, tolerance=1e-6))
|
||||
|
||||
@given(cartesian_polygons(origin=st.none()), polar_locations())
|
||||
@simple_property_only_few_examples # this only checks very simple additional logic
|
||||
def test_projection_and_back_projection_origin_given_extra(
|
||||
self, cartesian_polygon: CartesianPolygon, origin: PolarLocation
|
||||
) -> None:
|
||||
"""Test the projection with an origin being provided."""
|
||||
recreated = cartesian_polygon.to_polar(origin).to_cartesian(origin)
|
||||
self.assertTrue(recreated.equals_exact(recreated, tolerance=1e-6))
|
||||
|
||||
@given(cartesian_polygons(origin=st.none()))
|
||||
@simple_property_only_few_examples # this only checks very simple additional logic
|
||||
def test_projection_and_back_projection_origin_not_given(
|
||||
self, cartesian_polygon: CartesianPolygon
|
||||
) -> None:
|
||||
"""Test the projection with no origin being given."""
|
||||
with self.assertRaises(ValueError):
|
||||
cartesian_polygon.to_polar()
|
||||
|
||||
@given(cartesian_polygons(origin=polar_locations()), polar_locations())
|
||||
@simple_property_only_few_examples # this only checks very simple additional logic
|
||||
def test_projection_and_back_projection_origin_given_twice(
|
||||
self, cartesian_polygon: CartesianPolygon, origin: PolarLocation
|
||||
) -> None:
|
||||
"""Test the projection with ambiguous origin being provided."""
|
||||
with self.assertRaises(ValueError):
|
||||
cartesian_polygon.to_polar(origin)
|
||||
|
||||
@given(cartesian_polygons())
|
||||
@slow_route_max_examples
|
||||
def test_locations_property_attributes(self, cartesian_polygon: CartesianPolygon) -> None:
|
||||
"""Test that all contained locations share the same attributes."""
|
||||
for location in cartesian_polygon.locations:
|
||||
self.assertEqual(location.location_type, cartesian_polygon.location_type)
|
||||
self.assertEqual(location.name, cartesian_polygon.name)
|
||||
self.assertEqual(location.identifier, cartesian_polygon.identifier)
|
||||
self.assertEqual(location.origin, cartesian_polygon.origin)
|
||||
|
||||
@given(cartesian_polygons())
|
||||
@slow_route_max_examples
|
||||
def test_from_shapely_conversion(self, cartesian_polygon: CartesianPolygon) -> None:
|
||||
"""Test that :meth:`pyrate.plan.geometry.polygon.CartesianPolygon.from_shapely` works."""
|
||||
# we only want to compare the coordinates, so create a new instance without the identifier, name, etc.
|
||||
bare = CartesianPolygon.from_numpy(cartesian_polygon.to_numpy())
|
||||
bare_shapely = Polygon(cartesian_polygon.to_numpy())
|
||||
recreated = CartesianPolygon.from_shapely(bare_shapely)
|
||||
self.assertEqual(recreated, bare)
|
||||
|
||||
def test_non_finite_from_numpy_raises(self) -> None:
|
||||
"""Tests that invalid parameter to :meth:`~CartesianPolygon.from_numpy` warn about it."""
|
||||
|
||||
with self.assertRaises(AssertionError):
|
||||
CartesianPolygon.from_numpy(array([(1, 2), (2, 4), (4, float("NaN"))]))
|
||||
with self.assertRaises(AssertionError):
|
||||
CartesianPolygon.from_numpy(array([(float("Inf"), 2), (2, 4), (4, 1)]))
|
||||
with self.assertRaises(AssertionError):
|
||||
CartesianPolygon.from_numpy(array([(1, 2), (2, float("-Inf")), (4, 4)]))
|
||||
266
pyrate/tests/plan/geometry/primitives/test_routes.py
Normal file
266
pyrate/tests/plan/geometry/primitives/test_routes.py
Normal file
@ -0,0 +1,266 @@
|
||||
"""Tests that the route classes in :mod:`pyrate.plan.geometry.route` work correctly."""
|
||||
|
||||
# Typing
|
||||
from typing import cast
|
||||
|
||||
# Generic testing
|
||||
from unittest import TestCase
|
||||
|
||||
# Geometry
|
||||
from shapely.geometry import LineString
|
||||
|
||||
# Scientific
|
||||
from numpy import array
|
||||
|
||||
# Scientific testing
|
||||
from numpy.testing import assert_array_less
|
||||
|
||||
# Hypothesis testing
|
||||
from hypothesis import given
|
||||
import hypothesis.strategies as st
|
||||
|
||||
# Package under test
|
||||
from pyrate.plan.geometry import CartesianLocation
|
||||
from pyrate.plan.geometry import CartesianRoute
|
||||
from pyrate.plan.geometry import LocationType
|
||||
from pyrate.plan.geometry import PolarLocation
|
||||
from pyrate.plan.geometry import PolarRoute
|
||||
|
||||
# Test helpers
|
||||
from pyrate.common.testing.strategies.geometry import cartesian_routes
|
||||
from pyrate.common.testing.strategies.geometry import geo_bearings
|
||||
from pyrate.common.testing.strategies.geometry import polar_locations
|
||||
from pyrate.common.testing.strategies.geometry import polar_routes
|
||||
|
||||
# Local test helpers
|
||||
from . import is_any_near_special_point
|
||||
from . import simple_property_only_few_examples
|
||||
from . import slow_route_max_examples
|
||||
|
||||
|
||||
class TestPolarRoutes(TestCase):
|
||||
"""Asserts general properties of the polar routes."""
|
||||
|
||||
@given(polar_routes())
|
||||
@simple_property_only_few_examples # this only checks the call signatures so no need for many examples
|
||||
def test_numpy_conversion_invertible(self, polar_route: PolarRoute) -> None:
|
||||
"""Tests that the route conversion can be inverted."""
|
||||
recreated = PolarRoute.from_numpy(
|
||||
polar_route.to_numpy(),
|
||||
name=polar_route.name,
|
||||
location_type=polar_route.location_type,
|
||||
identifier=polar_route.identifier,
|
||||
)
|
||||
self.assertEqual(polar_route, recreated)
|
||||
|
||||
@given(polar_routes(), polar_locations(), st.booleans())
|
||||
@slow_route_max_examples
|
||||
def test_distance_to_vertices_is_non_negative(
|
||||
self, polar_route: PolarRoute, polar_location: PolarLocation, approximate: bool
|
||||
) -> None:
|
||||
"""Tests that all distances to vertices are non-negative."""
|
||||
distance = polar_route.distance_to_vertices(polar_location, approximate)
|
||||
self.assertGreaterEqual(distance, 0, "distances must be non-negative")
|
||||
|
||||
@given(polar_routes())
|
||||
@slow_route_max_examples
|
||||
def test_length_is_non_negative(self, polar_route: PolarRoute) -> None:
|
||||
"""Tests that the length of a route is always non-negative."""
|
||||
self.assertGreaterEqual(polar_route.length(), 0, "lengths must be non-negative")
|
||||
|
||||
@given(polar_routes(min_vertices=3, max_vertices=3))
|
||||
@slow_route_max_examples
|
||||
def test_length_values(self, polar_route: PolarRoute) -> None:
|
||||
"""Tests that the length of a route with three locations is plausible."""
|
||||
location_a, location_b, location_c = polar_route.locations
|
||||
distance = location_a.distance(location_b) + location_b.distance(location_c)
|
||||
self.assertAlmostEqual(polar_route.length(), distance, msg="lengths must be non-negative")
|
||||
|
||||
@given(
|
||||
st.sampled_from(
|
||||
[
|
||||
PolarRoute(
|
||||
locations=[
|
||||
PolarLocation(latitude=-76.40057132099628, longitude=-171.92454675519284),
|
||||
PolarLocation(latitude=-76, longitude=-171),
|
||||
],
|
||||
name="K",
|
||||
),
|
||||
PolarRoute(
|
||||
locations=[
|
||||
PolarLocation(latitude=-33.68964326163993, longitude=89.95053943144632),
|
||||
PolarLocation(latitude=-33, longitude=89),
|
||||
PolarLocation(latitude=-33.68964326163993, longitude=89.95053943144632),
|
||||
PolarLocation(latitude=-33.68964326163993, longitude=89.95053943144632),
|
||||
PolarLocation(latitude=-33.68964326163993, longitude=89.95053943144632),
|
||||
],
|
||||
location_type=LocationType.TESTING,
|
||||
name="_1",
|
||||
),
|
||||
PolarRoute(
|
||||
locations=[
|
||||
PolarLocation(latitude=0.0, longitude=0.029771743643124182),
|
||||
PolarLocation(latitude=0.0, longitude=0.0),
|
||||
PolarLocation(latitude=0.0, longitude=0.029771743643124182),
|
||||
PolarLocation(latitude=0.0, longitude=0.029771743643124182),
|
||||
],
|
||||
name="",
|
||||
),
|
||||
]
|
||||
),
|
||||
geo_bearings(),
|
||||
st.floats(min_value=1.0, max_value=100_000.0),
|
||||
)
|
||||
def test_translation_is_invertible(self, original: PolarRoute, direction: float, distance: float) -> None:
|
||||
"""Tests that translation is invertible and a valid bearing is returned.
|
||||
|
||||
Warning:
|
||||
Only tests in-depth in the case where latitudes and longitudes are not near the poles.
|
||||
Since the tests are quite flaky due to the underling library, we only test specific routes.
|
||||
"""
|
||||
|
||||
# translate
|
||||
translated, back_direction = original.translate(direction, distance)
|
||||
assert_array_less(0.0 - 1e-12, back_direction)
|
||||
assert_array_less(back_direction, 360.0 + 1e-12)
|
||||
|
||||
# translate back
|
||||
translated_translated, back_back_direction = translated.translate(back_direction[0], distance)
|
||||
assert_array_less(0.0 - 1e-12, back_back_direction)
|
||||
assert_array_less(back_back_direction, 360.0 + 1e-12)
|
||||
|
||||
# the method seems to have problems at poles
|
||||
if not is_any_near_special_point(original) and not is_any_near_special_point(translated):
|
||||
# the method is rather rough, so we want to add larger tolerances than usual while checking
|
||||
self.assertAlmostEqual(direction, back_back_direction[0], delta=0.1)
|
||||
self.assertTrue(original.equals_exact(translated_translated, tolerance=1e-2 * distance))
|
||||
|
||||
def test_zero_length_route(self) -> None:
|
||||
"""Test that :meth:`pyrate.plan.geometry.route.PolarRoute.__init__` raises an exception."""
|
||||
|
||||
with self.assertRaises(ValueError):
|
||||
PolarRoute(locations=[PolarLocation(0.0, 0.0)] * 2)
|
||||
|
||||
def test_non_finite_from_numpy_raises(self) -> None:
|
||||
"""Tests that invalid parameter to :meth:`~PolarRoute.from_numpy` warn about it."""
|
||||
|
||||
with self.assertRaises(AssertionError):
|
||||
PolarRoute.from_numpy(array([(1, 2), (2, 4), (4, float("NaN"))]))
|
||||
with self.assertRaises(AssertionError):
|
||||
PolarRoute.from_numpy(array([(float("Inf"), 2), (2, 4), (4, 1)]))
|
||||
with self.assertRaises(AssertionError):
|
||||
PolarRoute.from_numpy(array([(1, 2), (2, float("-Inf")), (4, 4)]))
|
||||
|
||||
|
||||
class TestCartesianRoutes(TestCase):
|
||||
"""Asserts general properties of the cartesian routes."""
|
||||
|
||||
@given(cartesian_routes())
|
||||
@simple_property_only_few_examples # this only checks the call signatures so no need for many examples
|
||||
def test_numpy_conversion_invertible(self, cartesian_route: CartesianRoute) -> None:
|
||||
"""Tests that the polygon conversion can be inverted."""
|
||||
|
||||
recreated = CartesianRoute.from_numpy(
|
||||
cartesian_route.to_numpy(),
|
||||
origin=cartesian_route.origin,
|
||||
name=cartesian_route.name,
|
||||
location_type=cartesian_route.location_type,
|
||||
identifier=cartesian_route.identifier,
|
||||
)
|
||||
|
||||
self.assertEqual(cartesian_route, recreated)
|
||||
|
||||
@given(cartesian_routes(origin=polar_locations()))
|
||||
@slow_route_max_examples
|
||||
def test_projection_and_back_projection_origin_in_route(self, cartesian_route: CartesianRoute) -> None:
|
||||
"""Test the projection with an origin already being present in the geometry."""
|
||||
|
||||
# Try since generated primitives might cause an exception to be thrown
|
||||
# e.g. if projected routes become length 0
|
||||
try:
|
||||
recreated = cartesian_route.to_polar().to_cartesian(cast(PolarLocation, cartesian_route.origin))
|
||||
self.assertTrue(recreated.equals_exact(recreated, tolerance=1e-6))
|
||||
except ValueError:
|
||||
pass
|
||||
|
||||
@given(cartesian_routes(origin=st.none()), polar_locations())
|
||||
@simple_property_only_few_examples # this only checks very simple additional logic
|
||||
def test_projection_and_back_projection_origin_given_extra(
|
||||
self, cartesian_route: CartesianRoute, origin: PolarLocation
|
||||
) -> None:
|
||||
"""Test the projection with an origin being provided."""
|
||||
|
||||
# Try since generated primitives might cause an exception to be thrown
|
||||
# e.g. if projected routes become length 0
|
||||
try:
|
||||
recreated = cartesian_route.to_polar(origin).to_cartesian(origin)
|
||||
self.assertTrue(recreated.equals_exact(recreated, tolerance=1e-6))
|
||||
except ValueError:
|
||||
pass
|
||||
|
||||
@given(cartesian_routes(origin=st.none()))
|
||||
@simple_property_only_few_examples # this only checks very simple additional logic
|
||||
def test_projection_and_back_projection_origin_not_given(self, cartesian_route: CartesianRoute) -> None:
|
||||
"""Test the projection with no origin being given."""
|
||||
|
||||
with self.assertRaises(ValueError):
|
||||
cartesian_route.to_polar()
|
||||
|
||||
@given(cartesian_routes(origin=polar_locations()), polar_locations())
|
||||
@simple_property_only_few_examples # this only checks very simple additional logic
|
||||
def test_projection_and_back_projection_origin_given_twice(
|
||||
self, cartesian_route: CartesianRoute, origin: PolarLocation
|
||||
) -> None:
|
||||
"""Test the projection with ambiguous origin being provided."""
|
||||
|
||||
with self.assertRaises(ValueError):
|
||||
cartesian_route.to_polar(origin)
|
||||
|
||||
@given(cartesian_routes())
|
||||
@slow_route_max_examples
|
||||
def test_locations_property_attributes(self, cartesian_route: CartesianRoute) -> None:
|
||||
"""Test that all contained locations share the same attributes."""
|
||||
|
||||
for location in cartesian_route.locations:
|
||||
self.assertEqual(location.location_type, cartesian_route.location_type)
|
||||
self.assertEqual(location.name, cartesian_route.name)
|
||||
self.assertEqual(location.identifier, cartesian_route.identifier)
|
||||
self.assertEqual(location.origin, cartesian_route.origin)
|
||||
|
||||
@given(cartesian_routes())
|
||||
@slow_route_max_examples
|
||||
def test_from_shapely_conversion(self, cartesian_route: CartesianRoute) -> None:
|
||||
"""Test that :meth:`pyrate.plan.geometry.route.CartesianRoute.from_shapely` works."""
|
||||
|
||||
# we only want to compare the coordinates, so create a new instance without the identifier, name, etc.
|
||||
bare = CartesianRoute.from_numpy(cartesian_route.to_numpy())
|
||||
bare_shapely = LineString(cartesian_route.to_numpy())
|
||||
recreated = CartesianRoute.from_shapely(bare_shapely)
|
||||
self.assertEqual(recreated, bare)
|
||||
|
||||
@given(cartesian_routes())
|
||||
@simple_property_only_few_examples # this only checks very simple additional logic
|
||||
def test_locations_property(self, cartesian_route: CartesianRoute) -> None:
|
||||
"""Test that :meth:`pyrate.plan.geometry.route.CartesianRoute.locations` works."""
|
||||
|
||||
locations = cartesian_route.locations
|
||||
self.assertEqual(len(cartesian_route.coords), len(locations))
|
||||
for i, (x, y) in enumerate(cartesian_route.coords):
|
||||
self.assertEqual(x, locations[i].x)
|
||||
self.assertEqual(y, locations[i].y)
|
||||
|
||||
def test_zero_length_route(self) -> None:
|
||||
"""Test that :meth:`pyrate.plan.geometry.route.CartesianRoute.__init__` raises an exception."""
|
||||
|
||||
with self.assertRaises(ValueError):
|
||||
CartesianRoute(locations=[CartesianLocation(0.0, 0.0)] * 2)
|
||||
|
||||
def test_non_finite_from_numpy_raises(self) -> None:
|
||||
"""Tests that invalid parameter to :meth:`~CartesianRoute.from_numpy` warn about it."""
|
||||
|
||||
with self.assertRaises(AssertionError):
|
||||
CartesianRoute.from_numpy(array([(1, 2), (2, 4), (4, float("NaN"))]))
|
||||
with self.assertRaises(AssertionError):
|
||||
CartesianRoute.from_numpy(array([(float("Inf"), 2), (2, 4), (4, 1)]))
|
||||
with self.assertRaises(AssertionError):
|
||||
CartesianRoute.from_numpy(array([(1, 2), (2, float("-Inf")), (4, 4)]))
|
||||
0
pyrate/tests/plan/graph/__init__.py
Normal file
0
pyrate/tests/plan/graph/__init__.py
Normal file
0
pyrate/tests/plan/graph/generate/__init__.py
Normal file
0
pyrate/tests/plan/graph/generate/__init__.py
Normal file
@ -0,0 +1,376 @@
|
||||
OFF
|
||||
122 252 0
|
||||
0 0.5257311121191336 0.85065080835204
|
||||
0 0.5257311121191336 -0.85065080835204
|
||||
0 -0.5257311121191336 0.85065080835204
|
||||
0 -0.5257311121191336 -0.85065080835204
|
||||
0.5257311121191336 0.85065080835204 0
|
||||
0.5257311121191336 -0.85065080835204 0
|
||||
-0.5257311121191336 0.85065080835204 0
|
||||
-0.5257311121191336 -0.85065080835204 0
|
||||
0.85065080835204 0 0.5257311121191336
|
||||
0.85065080835204 0 -0.5257311121191336
|
||||
-0.85065080835204 0 0.5257311121191336
|
||||
-0.85065080835204 0 -0.5257311121191336
|
||||
2.175242402100701e-16 -1.643460219210441e-32 1
|
||||
0.3090169943749475 0.8090169943749472 0.5000000000000002
|
||||
-0.3090169943749475 0.8090169943749472 0.5000000000000002
|
||||
0.4999999999999999 0.3090169943749474 0.8090169943749472
|
||||
-0.5000000000000001 0.3090169943749475 0.8090169943749472
|
||||
2.175242402100701e-16 1.643460219210441e-32 -1
|
||||
0.3090169943749475 0.8090169943749472 -0.5000000000000002
|
||||
-0.3090169943749475 0.8090169943749472 -0.5000000000000002
|
||||
0.5 0.3090169943749473 -0.8090169943749475
|
||||
-0.4999999999999999 0.3090169943749474 -0.8090169943749472
|
||||
0.3090169943749473 -0.8090169943749475 0.5
|
||||
-0.3090169943749475 -0.8090169943749472 0.5000000000000002
|
||||
0.5 -0.3090169943749473 0.8090169943749475
|
||||
-0.4999999999999999 -0.3090169943749474 0.8090169943749472
|
||||
0.3090169943749473 -0.8090169943749475 -0.5
|
||||
-0.3090169943749473 -0.8090169943749475 -0.5
|
||||
0.5 -0.3090169943749472 -0.8090169943749475
|
||||
-0.5000000000000001 -0.3090169943749475 -0.8090169943749472
|
||||
0 1 4.350484804201401e-17
|
||||
0.8090169943749475 0.5 0.3090169943749472
|
||||
0.8090169943749472 0.4999999999999999 -0.3090169943749473
|
||||
0 -1 -4.350484804201401e-17
|
||||
0.8090169943749472 -0.4999999999999999 0.3090169943749473
|
||||
0.8090169943749475 -0.5 -0.3090169943749472
|
||||
-0.8090169943749472 0.4999999999999999 0.3090169943749473
|
||||
-0.8090169943749472 0.4999999999999999 -0.3090169943749475
|
||||
-0.8090169943749475 -0.5 0.3090169943749472
|
||||
-0.8090169943749472 -0.4999999999999999 -0.3090169943749473
|
||||
1 2.175242402100701e-16 -1.643460219210441e-32
|
||||
-1 -2.175242402100701e-16 -1.643460219210441e-32
|
||||
-0.1803319730021167 0.289241011911498 -0.9401170227910867
|
||||
-0.35682208977309 -3.124513936890529e-17 -0.9341723589627157
|
||||
-0.1803319730021166 -0.2892410119114981 -0.9401170227910867
|
||||
-0.6483337612153338 -5.436311068297173e-17 -0.7613562464893677
|
||||
-0.1803319730021166 0.2892410119114981 0.9401170227910867
|
||||
-0.35682208977309 3.09531117213564e-17 0.9341723589627158
|
||||
-0.6483337612153338 5.402340711901317e-17 0.7613562464893677
|
||||
-0.1803319730021167 -0.289241011911498 0.9401170227910867
|
||||
0.291783261575753 -0.5810242734872509 0.7597850497889703
|
||||
0.5773502691896258 -0.5773502691896256 0.5773502691896258
|
||||
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|
||||
3 14 108 107 0.90196 0.45098 0.00000
|
||||
3 108 14 73 0.90196 0.45098 0.00000
|
||||
3 109 16 107 0.90196 0.45098 0.00000
|
||||
3 107 36 109 0.90196 0.45098 0.00000
|
||||
3 36 107 108 0.90196 0.45098 0.00000
|
||||
3 110 108 6 0.90196 0.45098 0.00000
|
||||
3 10 48 109 0.90196 0.45098 0.00000
|
||||
3 113 109 36 0.90196 0.45098 0.00000
|
||||
3 110 6 117 0.90196 0.45098 0.00000
|
||||
3 36 108 110 0.90196 0.45098 0.00000
|
||||
3 110 111 36 0.90196 0.45098 0.00000
|
||||
3 111 110 37 0.90196 0.45098 0.00000
|
||||
3 37 112 111 0.90196 0.45098 0.00000
|
||||
3 112 37 116 0.90196 0.45098 0.00000
|
||||
3 113 36 111 0.90196 0.45098 0.00000
|
||||
3 111 41 113 0.90196 0.45098 0.00000
|
||||
3 41 111 112 0.90196 0.45098 0.00000
|
||||
3 121 112 11 0.90196 0.45098 0.00000
|
||||
3 10 109 113 0.90196 0.45098 0.00000
|
||||
3 120 113 41 0.90196 0.45098 0.00000
|
||||
3 114 1 42 0.90196 0.45098 0.00000
|
||||
3 19 58 114 0.90196 0.45098 0.00000
|
||||
3 114 115 19 0.90196 0.45098 0.00000
|
||||
3 115 114 21 0.90196 0.45098 0.00000
|
||||
3 21 116 115 0.90196 0.45098 0.00000
|
||||
3 116 21 45 0.90196 0.45098 0.00000
|
||||
3 117 19 115 0.90196 0.45098 0.00000
|
||||
3 115 37 117 0.90196 0.45098 0.00000
|
||||
3 37 115 116 0.90196 0.45098 0.00000
|
||||
3 112 116 11 0.90196 0.45098 0.00000
|
||||
3 6 60 117 0.90196 0.45098 0.00000
|
||||
3 110 117 37 0.90196 0.45098 0.00000
|
||||
3 118 7 77 0.90196 0.45098 0.00000
|
||||
3 39 56 118 0.90196 0.45098 0.00000
|
||||
3 118 119 39 0.90196 0.45098 0.00000
|
||||
3 119 118 38 0.90196 0.45098 0.00000
|
||||
3 38 120 119 0.90196 0.45098 0.00000
|
||||
3 120 38 76 0.90196 0.45098 0.00000
|
||||
3 121 39 119 0.90196 0.45098 0.00000
|
||||
3 119 41 121 0.90196 0.45098 0.00000
|
||||
3 41 119 120 0.90196 0.45098 0.00000
|
||||
3 113 120 10 0.90196 0.45098 0.00000
|
||||
3 11 57 121 0.90196 0.45098 0.00000
|
||||
3 112 121 41 0.90196 0.45098 0.00000
|
||||
1 0 0.38824 0.60000 0.30196
|
||||
1 1 0.38824 0.60000 0.30196
|
||||
1 2 0.38824 0.60000 0.30196
|
||||
1 3 0.38824 0.60000 0.30196
|
||||
1 4 0.38824 0.60000 0.30196
|
||||
1 5 0.38824 0.60000 0.30196
|
||||
1 6 0.38824 0.60000 0.30196
|
||||
1 7 0.38824 0.60000 0.30196
|
||||
1 8 0.38824 0.60000 0.30196
|
||||
1 9 0.38824 0.60000 0.30196
|
||||
1 10 0.38824 0.60000 0.30196
|
||||
1 11 0.38824 0.60000 0.30196
|
||||
205
pyrate/tests/plan/graph/generate/test_graph_generation.py
Normal file
205
pyrate/tests/plan/graph/generate/test_graph_generation.py
Normal file
@ -0,0 +1,205 @@
|
||||
"""Tests the generated graphs are well-formed."""
|
||||
|
||||
# Standard Library
|
||||
from contextlib import redirect_stdout
|
||||
from io import StringIO
|
||||
from math import isclose
|
||||
|
||||
# Testing
|
||||
import unittest
|
||||
|
||||
# Typing
|
||||
from typing import cast
|
||||
|
||||
# Hypothesis testing
|
||||
from hypothesis import given
|
||||
import hypothesis.strategies as st
|
||||
|
||||
# Scientific (testing)
|
||||
import numpy as np
|
||||
import numpy.testing
|
||||
|
||||
# Own geography
|
||||
from pyrate.plan.geometry.geospatial import MEAN_EARTH_CIRCUMFERENCE
|
||||
from pyrate.plan.geometry.helpers import haversine_numpy
|
||||
|
||||
# Module under test
|
||||
from pyrate.plan.graph.generate import angular_distance_for
|
||||
from pyrate.plan.graph.generate import create_earth_graph
|
||||
from pyrate.plan.graph.generate import great_circle_distance_distance_for
|
||||
from pyrate.plan.graph.generate import min_required_frequency
|
||||
|
||||
|
||||
EXAMPLE_DISTANCES_KILOMETERS = [100000, 100000.0, 5000, 250] # smaller values take too long
|
||||
|
||||
|
||||
class TestGridGeneration(unittest.TestCase):
|
||||
"""Tests that a grid can be created and pruned."""
|
||||
|
||||
@staticmethod
|
||||
def _calculate_distances(latitudes: np.ndarray, longitudes: np.ndarray, edges: np.ndarray) -> np.ndarray:
|
||||
"""Calculates the distance of all edges. The `edges` index into the coordinate arrays."""
|
||||
entries = [
|
||||
(latitudes[node_1], longitudes[node_1], latitudes[node_2], longitudes[node_2])
|
||||
for node_1, node_2 in edges
|
||||
]
|
||||
return haversine_numpy(*np.transpose(entries))
|
||||
|
||||
def test_create_earth_grid(self) -> None:
|
||||
"""Ensures that the generated earth grids are formed correctly."""
|
||||
for distance_km in EXAMPLE_DISTANCES_KILOMETERS:
|
||||
with self.subTest(f"Test with distance {distance_km} km"):
|
||||
distance = distance_km * 1000
|
||||
|
||||
# create a grid
|
||||
graph = create_earth_graph(min_required_frequency(distance, in_meters=True))
|
||||
self.assertIsNotNone(graph.node_radius)
|
||||
actual_distance: float = cast(float, graph.node_radius) * 2
|
||||
|
||||
# the actual_distance must be a upper-bounded by he requested distance
|
||||
self.assertLessEqual(actual_distance, distance)
|
||||
self.assertLessEqual(actual_distance, MEAN_EARTH_CIRCUMFERENCE / 2)
|
||||
|
||||
# the shapes of the returned arrays must match
|
||||
self.assertEqual(
|
||||
graph.latitudes_radians.shape,
|
||||
graph.longitudes_radians.shape,
|
||||
"latitude and longitude must have the same shape",
|
||||
)
|
||||
self.assertEqual(
|
||||
graph.latitudes_degrees.shape,
|
||||
graph.longitudes_degrees.shape,
|
||||
"latitude and longitude must have the same shape",
|
||||
)
|
||||
self.assertEqual(
|
||||
graph.latitudes_radians.shape,
|
||||
graph.longitudes_degrees.shape,
|
||||
"radians and degrees must have the same shape",
|
||||
)
|
||||
self.assertGreaterEqual(len(graph), 12) # as it is based on slicing an icosahedron
|
||||
|
||||
# the edges must be valid indices into the edges
|
||||
self.assertTrue(
|
||||
np.all(graph.edges[:, :] >= 0) and np.all(graph.edges[:, :] < len(graph)),
|
||||
"some edges reference non-existent points",
|
||||
)
|
||||
|
||||
# check the actual coordinate value
|
||||
if (
|
||||
np.any(graph.latitudes_radians < -np.pi / 2)
|
||||
or np.any(graph.longitudes_radians < -np.pi)
|
||||
or np.any(graph.latitudes_radians >= +np.pi / 2)
|
||||
or np.any(graph.longitudes_radians >= +np.pi)
|
||||
):
|
||||
print(
|
||||
"latitude < min / 2:",
|
||||
np.compress(graph.latitudes_radians < -np.pi / 2, graph.latitudes_radians),
|
||||
)
|
||||
print(
|
||||
"longitude < min:",
|
||||
np.compress(graph.longitudes_radians < -np.pi, graph.longitudes_radians),
|
||||
)
|
||||
print(
|
||||
"latitude >= max / 2:",
|
||||
np.compress(graph.latitudes_radians >= +np.pi / 2, graph.latitudes_radians),
|
||||
)
|
||||
print(
|
||||
"longitude >= max:",
|
||||
np.compress(graph.longitudes_radians >= +np.pi, graph.longitudes_radians),
|
||||
)
|
||||
self.fail("some points are outside of the allowed range")
|
||||
|
||||
# check the distances along the edges
|
||||
distances = TestGridGeneration._calculate_distances(
|
||||
graph.latitudes_radians, graph.longitudes_radians, graph.edges
|
||||
)
|
||||
|
||||
numpy.testing.assert_allclose(distances, actual_distance, atol=10, rtol=0.2)
|
||||
|
||||
mean = np.mean(distances)
|
||||
self.assertTrue(isclose(mean, actual_distance, rel_tol=0.1, abs_tol=10.0))
|
||||
standard_deviation = np.std(distances)
|
||||
self.assertLessEqual(standard_deviation / mean, 0.075)
|
||||
|
||||
def test_print_status(self) -> None:
|
||||
"""This tests that logging being enabled actually logs something and does not crash."""
|
||||
stdout_logging = StringIO()
|
||||
with redirect_stdout(stdout_logging):
|
||||
create_earth_graph(6, print_status=True)
|
||||
logged_lines = list(stdout_logging.getvalue().splitlines())
|
||||
self.assertEqual(len(logged_lines), 6, "we expect 6 lines of messages")
|
||||
|
||||
def test_find_neighbors(self) -> None:
|
||||
"""Tests that result of the neighbor search is correct."""
|
||||
for distance_km in EXAMPLE_DISTANCES_KILOMETERS:
|
||||
with self.subTest(f"Test with distance {distance_km} km"):
|
||||
|
||||
# create a grid & determine neighbors
|
||||
graph = create_earth_graph(min_required_frequency(distance_km * 1000, in_meters=True))
|
||||
neighbors = graph.neighbors
|
||||
count_per_node = np.count_nonzero(neighbors >= 0, axis=1)
|
||||
|
||||
# check the resulting number of entries
|
||||
self.assertEqual(
|
||||
np.sum(count_per_node),
|
||||
graph.edges.shape[0] * 2,
|
||||
"each edge must generate two entries in the neighbor table",
|
||||
)
|
||||
self.assertEqual(
|
||||
np.count_nonzero(count_per_node == 5),
|
||||
12,
|
||||
"exactly twelve nodes must have exactly five neighbors "
|
||||
"(the corners of the original icosahedron)",
|
||||
)
|
||||
self.assertEqual(
|
||||
np.count_nonzero(count_per_node == 6),
|
||||
len(graph) - 12,
|
||||
"all but twelve nodes must have exactly six neighbors",
|
||||
)
|
||||
|
||||
# check the range of values
|
||||
valid_index = np.logical_and(neighbors >= 0, neighbors < len(graph))
|
||||
self.assertTrue(
|
||||
np.all(np.logical_xor(neighbors == -1, valid_index)),
|
||||
"any value i may either be -1 (=null) or a valid index with 0 <= i < num_nodes",
|
||||
)
|
||||
|
||||
|
||||
class TestHelperMethods(unittest.TestCase):
|
||||
"""Tests that the helpers (e.g. for computing minimum required frequencies) work correctly."""
|
||||
|
||||
@given(st.floats(min_value=1e-6, allow_infinity=False, allow_nan=False), st.booleans())
|
||||
def test_right_order_of_magnitude(self, desired_distance: float, in_meters: bool) -> None:
|
||||
"""Asserts that commuting a frequency and converting it to units is correct w.r.t. to each other."""
|
||||
frequency = min_required_frequency(desired_distance, in_meters)
|
||||
|
||||
if in_meters:
|
||||
actual_distance = great_circle_distance_distance_for(frequency)
|
||||
else:
|
||||
actual_distance = angular_distance_for(frequency)
|
||||
self.assertLessEqual(actual_distance, desired_distance)
|
||||
|
||||
if frequency > 1:
|
||||
if in_meters:
|
||||
actual_distance_one_rougher = great_circle_distance_distance_for(frequency - 1)
|
||||
else:
|
||||
actual_distance_one_rougher = angular_distance_for(frequency - 1)
|
||||
self.assertGreaterEqual(actual_distance_one_rougher, desired_distance)
|
||||
|
||||
def test_specific_values(self) -> None:
|
||||
"""Asserts that commuting a frequency works correct for specific hand-chosen values."""
|
||||
|
||||
# Taken from the implementation:
|
||||
# The approximate angle between two edges on an icosahedron, in radians, about 63.4°
|
||||
alpha = 1.1071487
|
||||
|
||||
# Contains pairs: (angular distance in radians, frequency)
|
||||
table = [
|
||||
(alpha + 1e-6, 1),
|
||||
(alpha - 1e-9, 2),
|
||||
(alpha / 9000.005, 9001),
|
||||
]
|
||||
|
||||
for desired_angular_distance, desired_frequency in table:
|
||||
computed_frequency = min_required_frequency(desired_angular_distance, in_meters=False)
|
||||
self.assertEqual(desired_frequency, computed_frequency)
|
||||
56
pyrate/tests/plan/graph/generate/test_off_handler.py
Normal file
56
pyrate/tests/plan/graph/generate/test_off_handler.py
Normal file
@ -0,0 +1,56 @@
|
||||
"""Tests the Aptiprism OFF file handler."""
|
||||
|
||||
# Standard library
|
||||
import os.path
|
||||
|
||||
# Testing
|
||||
import unittest
|
||||
|
||||
# Scientific
|
||||
import numpy as np
|
||||
|
||||
# Module under test
|
||||
from pyrate.plan.graph.generate import _parse_off_file
|
||||
|
||||
|
||||
TEST_FILES_DIR = os.path.realpath(os.path.join(os.path.dirname(__file__), "example_files/"))
|
||||
TEST_FILES = [
|
||||
os.path.join(TEST_FILES_DIR, "geodestic_file_1.off"),
|
||||
os.path.join(TEST_FILES_DIR, "geodestic_file_2.off"),
|
||||
os.path.join(TEST_FILES_DIR, "geodesic_-M_s_-c_2_-f_2_ico.off"),
|
||||
]
|
||||
|
||||
|
||||
class TestOffHandler(unittest.TestCase):
|
||||
"""Tests the Aptiprism OFF file handler using some examples."""
|
||||
|
||||
def test_with_example_files(self):
|
||||
"""Tests the Aptiprism OFF file handler using three example files."""
|
||||
|
||||
for test_file in TEST_FILES:
|
||||
with self.subTest(f'Test file "{test_file}"'):
|
||||
|
||||
# test that it does not crash
|
||||
with open(test_file, "r", encoding="utf-8") as myfile:
|
||||
source = myfile.read()
|
||||
latitudes, longitudes, edges = _parse_off_file(source)
|
||||
|
||||
if "geodesic_-M_s_-c_2_-f_2_ico" in test_file:
|
||||
self.assertEqual(
|
||||
len(latitudes), 122, f"wrong total number of nodes: {len(latitudes)} instead of 122"
|
||||
)
|
||||
self.assertEqual(
|
||||
edges.shape[0], 360, f"wrong total number of edges: {edges.shape[0]} instead of 360"
|
||||
)
|
||||
|
||||
# the shapes of the returned arrays must match
|
||||
self.assertEqual(
|
||||
latitudes.shape, longitudes.shape, "latitude and longitude must have the same shape"
|
||||
)
|
||||
self.assertGreater(len(latitudes), 0, "no points found")
|
||||
|
||||
# the edges must be valid indices into the edges
|
||||
self.assertTrue(
|
||||
np.all(edges[:, :] >= 0) and np.all(edges[:, :] < len(latitudes)),
|
||||
"some edges reference non-existent points",
|
||||
)
|
||||
166
pyrate/tests/plan/graph/test_geo_graph.py
Normal file
166
pyrate/tests/plan/graph/test_geo_graph.py
Normal file
@ -0,0 +1,166 @@
|
||||
"""Asserts correct behaviour of the geo-referenced graph navigation.
|
||||
|
||||
See Also:
|
||||
tests/common/raster_datasets/test_transformers_concrete.py
|
||||
"""
|
||||
|
||||
# Standard library
|
||||
from copy import deepcopy
|
||||
import os.path
|
||||
from tempfile import TemporaryDirectory
|
||||
from unittest import TestCase
|
||||
|
||||
# Scientific
|
||||
import numpy
|
||||
from numpy import arange
|
||||
from numpy import array
|
||||
from numpy import empty
|
||||
from numpy.testing import assert_array_equal
|
||||
from pandas import DataFrame
|
||||
|
||||
# Graph generation / Module under test
|
||||
from pyrate.common.raster_datasets import transformers_concrete
|
||||
from pyrate.plan.graph import create_earth_graph
|
||||
from pyrate.plan.graph import GeoNavigationGraph
|
||||
from pyrate.plan.graph import min_required_frequency
|
||||
|
||||
# CI/Testing helpers
|
||||
from ... import _open_test_geo_dataset
|
||||
|
||||
|
||||
from .generate.test_graph_generation import EXAMPLE_DISTANCES_KILOMETERS
|
||||
|
||||
|
||||
class TestGeoNavigationGraph(TestCase):
|
||||
"""Tests properties specific to :class:`pyrate.plan.graph.GeoNavigationGraph`."""
|
||||
|
||||
def test_create_invalid_duplicate_argument_nodes(self) -> None:
|
||||
"""Tests supplying nodes to from_coordinates_radians/from_coordinates_degrees raises an Exception."""
|
||||
for function in [
|
||||
GeoNavigationGraph.from_coordinates_degrees,
|
||||
GeoNavigationGraph.from_coordinates_radians,
|
||||
]:
|
||||
with self.subTest(msg=f"function {str(function)}"):
|
||||
with self.assertRaises(Exception): # noqa: H202
|
||||
function( # type: ignore
|
||||
latitudes=empty((0,)), longitudes=empty((0,)), edges=empty((0, 2)), nodes=DataFrame()
|
||||
)
|
||||
|
||||
def test_node_radius_constructor(self) -> None:
|
||||
"""Tests that only invalid inputs to node_radius raise exceptions."""
|
||||
GeoNavigationGraph.from_coordinates_degrees(
|
||||
latitudes=empty((0,)), longitudes=empty((0,)), edges=empty((0, 2)), node_radius=0
|
||||
)
|
||||
GeoNavigationGraph.from_coordinates_degrees(
|
||||
latitudes=empty((0,)), longitudes=empty((0,)), edges=empty((0, 2)), node_radius=100_000
|
||||
)
|
||||
|
||||
with self.assertRaises(Exception): # noqa: H202
|
||||
GeoNavigationGraph.from_coordinates_degrees(
|
||||
latitudes=empty((0,)), longitudes=empty((0,)), edges=empty((0, 2)), node_radius=-1e-9
|
||||
)
|
||||
|
||||
def test_set_node_properties(self) -> None:
|
||||
"""Tests that passing ``node_properties`` works."""
|
||||
graph = GeoNavigationGraph.from_coordinates_radians(
|
||||
latitudes=array([42]),
|
||||
longitudes=array([21]),
|
||||
edges=empty((0, 2)),
|
||||
node_radius=100,
|
||||
node_properties=DataFrame(data={"col1": [99], "col2": ["text"]}),
|
||||
)
|
||||
self.assertEqual(graph.node_radius, 100)
|
||||
assert_array_equal(graph.node_properties["col1"], [99])
|
||||
assert_array_equal(graph.node_properties["col2"], ["text"])
|
||||
|
||||
def test_read_write(self) -> None:
|
||||
"""Tests that a *geo* navigation graph can be serialized and deserialized again."""
|
||||
latitudes = array([49.8725144])
|
||||
longitudes = array([8.6528707])
|
||||
edges = empty((0, 2))
|
||||
|
||||
# `graph.neighbors` is cached, so we want to try it with and without the cached neighbors being set
|
||||
for set_neighbors in [True, False]:
|
||||
with self.subTest(f"neighbors set = {set_neighbors}"):
|
||||
graph = GeoNavigationGraph.from_coordinates_degrees(
|
||||
latitudes, longitudes, edges=edges, max_neighbors=42, node_radius=1000
|
||||
)
|
||||
if set_neighbors:
|
||||
_ = graph.neighbors
|
||||
|
||||
with TemporaryDirectory() as directory:
|
||||
path = os.path.join(directory, "some_file.hdf5")
|
||||
graph.to_disk(path)
|
||||
new_graph = GeoNavigationGraph.from_disk(path)
|
||||
|
||||
self.assertEqual(graph, new_graph)
|
||||
assert_array_equal(new_graph.neighbors, graph.neighbors)
|
||||
|
||||
|
||||
class TestNavigationGraphPruningGeo(TestCase):
|
||||
"""Tests that navigation graphs can be pruned by testing it with earth graphs."""
|
||||
|
||||
def test_pruning_artificial(self) -> None:
|
||||
"""Tests that pruning half of the points works as expected."""
|
||||
|
||||
for distance_km in EXAMPLE_DISTANCES_KILOMETERS:
|
||||
with self.subTest(f"Test with distance {distance_km} km"):
|
||||
# create a grid
|
||||
graph = create_earth_graph(min_required_frequency(distance_km * 1000, in_meters=True))
|
||||
|
||||
# keep all nodes at even latitudes
|
||||
keep_condition = arange(0, len(graph)) % 2 == 0
|
||||
pruned_graph = deepcopy(graph)
|
||||
pruned_graph.prune_nodes(keep_condition)
|
||||
|
||||
self.assertGreater(len(pruned_graph), 0, "some node must remain")
|
||||
|
||||
# test the reduction ratio
|
||||
delta_nodes = len(pruned_graph) / len(graph)
|
||||
delta_edges = pruned_graph.num_edges / graph.num_edges
|
||||
self.assertAlmostEqual(delta_nodes, 0.5, msg="suspicious node count reduction")
|
||||
# about a fifth of all edges should be removed since each of the removed nodes removed five
|
||||
# edges
|
||||
self.assertAlmostEqual(delta_edges, 1 / 5, delta=0.15, msg="suspicious edge count reduction")
|
||||
|
||||
# test the values in the edges, since they were rewritten as they point to new indices
|
||||
self.assertTrue(numpy.all(pruned_graph.edges[:, :] >= 0), "indices must be non-negative")
|
||||
self.assertTrue(
|
||||
numpy.all(pruned_graph.edges[:, :] < len(pruned_graph)),
|
||||
"some filtered edges reference (now) non-existent points",
|
||||
)
|
||||
|
||||
def test_pruning_depth(self) -> None:
|
||||
"""Supplements :meth`~test_pruning_artificial` by a real-world application.
|
||||
|
||||
Only checks application-specific properties and not, for example, the general shapes of the result.
|
||||
"""
|
||||
# create a grid
|
||||
distance_meters = 500_000
|
||||
graph = create_earth_graph(min_required_frequency(distance_meters, in_meters=True))
|
||||
|
||||
# fetch properties
|
||||
mode = transformers_concrete.BathymetricTransformer.Modes.AVERAGE_DEPTH
|
||||
graph.append_property(transformers_concrete.BathymetricTransformer(_open_test_geo_dataset(), [mode]))
|
||||
|
||||
# keep all nodes that are below sea level
|
||||
keep_condition = (graph.node_properties[mode.column_name] < 0.0).to_numpy()
|
||||
|
||||
# Remove the now useless property
|
||||
graph.clear_node_properties()
|
||||
|
||||
# perform pruning
|
||||
pruned_graph = deepcopy(graph)
|
||||
pruned_graph.prune_nodes(keep_condition)
|
||||
|
||||
# test the reduction ratio
|
||||
delta_nodes = len(pruned_graph) / len(graph)
|
||||
delta_edges = pruned_graph.num_edges / graph.num_edges
|
||||
earth_fraction_water = 0.708 # see https://en.wikipedia.org/wiki/World_Ocean
|
||||
# although we go by topography and not water coverage, this should still be fairly correct
|
||||
self.assertAlmostEqual(
|
||||
delta_nodes, earth_fraction_water, delta=0.1, msg="suspicious node count reduction"
|
||||
)
|
||||
self.assertAlmostEqual(
|
||||
delta_edges, earth_fraction_water, delta=0.1, msg="suspicious edge count reduction"
|
||||
)
|
||||
120
pyrate/tests/plan/graph/test_graph.py
Normal file
120
pyrate/tests/plan/graph/test_graph.py
Normal file
@ -0,0 +1,120 @@
|
||||
"""Asserts correct behaviour of the base classes for graph navigation.
|
||||
|
||||
See Also:
|
||||
tests/common/raster_datasets/test_transformers_concrete.py
|
||||
"""
|
||||
|
||||
# Standard library
|
||||
from copy import deepcopy
|
||||
import os.path
|
||||
from tempfile import TemporaryDirectory
|
||||
from unittest import TestCase
|
||||
|
||||
# Scientific
|
||||
from numpy import array
|
||||
from numpy import empty
|
||||
from numpy import full
|
||||
from numpy.testing import assert_array_equal
|
||||
from pandas import DataFrame
|
||||
from pandas.testing import assert_frame_equal
|
||||
|
||||
# Module under test
|
||||
from pyrate.plan.graph import NavigationGraph
|
||||
|
||||
|
||||
# Some examples:
|
||||
_NODES = DataFrame(data={"property_1": [1, 2, 3], "property_2": [10, 20, 30]})
|
||||
_EDGES = array([[0, 1], [1, 2]])
|
||||
_NEIGHBORS = array([[1, -1], [0, 2], [1, -1]])
|
||||
|
||||
|
||||
class TestNavigationGraph(TestCase):
|
||||
"""Tests the very basic functionality like initialization, (de)serialization and finding neighbors."""
|
||||
|
||||
def test_empty(self) -> None:
|
||||
"""Tests that a new instance can be created with and without neighbors."""
|
||||
graph = NavigationGraph(DataFrame(), empty((0, 2)))
|
||||
self.assertEqual(len(graph), 0)
|
||||
self.assertEqual(graph.num_edges, 0)
|
||||
|
||||
# check that the correct neighbor table is returned
|
||||
self.assertEqual(graph.neighbors.shape, (0, 0))
|
||||
|
||||
def test_create(self) -> None:
|
||||
"""Tests that a new instance can be created with and without neighbors."""
|
||||
|
||||
for given_neighbors in [_NEIGHBORS, None]:
|
||||
with self.subTest(f"neighbors given = {given_neighbors is not None}"):
|
||||
graph = NavigationGraph(_NODES, _EDGES, given_neighbors)
|
||||
assert_array_equal(graph.neighbors, _NEIGHBORS)
|
||||
|
||||
# repeated queries should return the same neighbors
|
||||
assert_array_equal(graph.neighbors, graph.neighbors)
|
||||
|
||||
def test_read_write(self) -> None:
|
||||
"""Tests that a navigation graph can be serialized and deserialized again."""
|
||||
|
||||
# `graph.neighbors` is cached, so we want to try it with and without the cached neighbors being set
|
||||
for set_neighbors in [True, False]:
|
||||
with self.subTest(f"neighbors set = {set_neighbors}"):
|
||||
graph = NavigationGraph(_NODES, _EDGES, max_neighbors=42)
|
||||
if set_neighbors:
|
||||
_ = graph.neighbors
|
||||
|
||||
with TemporaryDirectory() as directory:
|
||||
path = os.path.join(directory, "some_file.hdf5")
|
||||
graph.to_disk(path)
|
||||
new_graph = NavigationGraph.from_disk(path)
|
||||
|
||||
self.assertEqual(graph, new_graph)
|
||||
assert_array_equal(new_graph.neighbors, _NEIGHBORS)
|
||||
|
||||
def test_max_neighbors_constructor(self) -> None:
|
||||
"""Tests that only invalid inputs to max_neighbors raise exceptions."""
|
||||
NavigationGraph(DataFrame(), empty((0, 2)), max_neighbors=0)
|
||||
NavigationGraph(DataFrame(), empty((0, 2)), max_neighbors=10)
|
||||
|
||||
with self.assertRaises(Exception): # noqa: H202
|
||||
NavigationGraph(DataFrame(), empty((0, 2)), max_neighbors=-2)
|
||||
|
||||
|
||||
class TestNavigationGraphPruningArtificial(TestCase):
|
||||
"""Tests that simple toy navigation graphs can be pruned."""
|
||||
|
||||
def test_pruning_no_nodes(self) -> None:
|
||||
"""Tests that pruning no nodes works."""
|
||||
old_graph = NavigationGraph(_NODES, _EDGES, _NEIGHBORS)
|
||||
|
||||
pruned_graph = deepcopy(old_graph)
|
||||
retain_all = full((len(_NODES),), True)
|
||||
pruned_graph.prune_nodes(retain_all)
|
||||
|
||||
self.assertEqual(old_graph, pruned_graph)
|
||||
|
||||
def test_pruning_all(self) -> None:
|
||||
"""Tests that pruning all nodes works."""
|
||||
old_graph = NavigationGraph(_NODES, _EDGES, _NEIGHBORS)
|
||||
|
||||
pruned_graph = deepcopy(old_graph)
|
||||
retain_all = full((len(_NODES),), False)
|
||||
pruned_graph.prune_nodes(retain_all)
|
||||
|
||||
self.assertNotEqual(old_graph, pruned_graph)
|
||||
self.assertEqual(len(pruned_graph.nodes), 0)
|
||||
self.assertEqual(len(pruned_graph.nodes.columns), 2, "the properties must be retained")
|
||||
self.assertEqual(pruned_graph.edges.shape, (0, 2))
|
||||
self.assertEqual(pruned_graph.neighbors.shape, (0, 0))
|
||||
|
||||
def test_pruning_very_simple(self) -> None:
|
||||
"""Tests that pruning some nodes works as expected."""
|
||||
|
||||
old_graph = NavigationGraph(_NODES, _EDGES, _NEIGHBORS)
|
||||
|
||||
pruned_graph = deepcopy(old_graph)
|
||||
keep_condition = array([True, True, False]) # only prune the last node
|
||||
pruned_graph.prune_nodes(keep_condition)
|
||||
|
||||
self.assertNotEqual(old_graph, pruned_graph)
|
||||
assert_frame_equal(pruned_graph.nodes, _NODES[:2])
|
||||
assert_array_equal(pruned_graph.edges, _EDGES[:1])
|
||||
assert_array_equal(pruned_graph.neighbors, _NEIGHBORS[:2, :1])
|
||||
Reference in New Issue
Block a user