public static PointCloudWorldPacket nextPointCloudWorldPacket(Random random) { PointCloudWorldPacket next = new PointCloudWorldPacket(); next.setTimestamp(random.nextLong()); next.getGroundQuadTreeSupport().add(RandomNumbers.nextFloatArray(random, random.nextInt(), 100.0f)); next.getDecayingWorldScan().add(RandomNumbers.nextFloatArray(random, random.nextInt(), 100.0f)); next.setDefaultGroundHeight(random.nextFloat()); return next; }
public static LocalizationPointMapPacket nextLocalizationPointMapPacket(Random random) { LocalizationPointMapPacket next = new LocalizationPointMapPacket(); next.setTimestamp(random.nextLong()); next.getLocalizationPointMap().add(RandomNumbers.nextFloatArray(random, random.nextInt(10000), 1.0f)); return next; }
public static LegCompliancePacket nextLegCompliancePacket(Random random) { LegCompliancePacket next = new LegCompliancePacket(); next.setRobotSide(RandomNumbers.nextEnum(random, RobotSide.class).toByte()); next.getMaxVelocityDeltas().add(RandomNumbers.nextFloatArray(random, random.nextInt(1000), 1.0f)); return next; }
public static KinematicsToolboxOutputStatus nextKinematicsToolboxOutputStatus(Random random) { KinematicsToolboxOutputStatus next = new KinematicsToolboxOutputStatus(); next.setJointNameHash(random.nextInt()); next.getDesiredJointAngles().add(RandomNumbers.nextFloatArray(random, random.nextInt(100), 1.0f)); next.getDesiredRootTranslation().set(EuclidCoreRandomTools.nextVector3D32(random)); next.getDesiredRootOrientation().set(EuclidCoreRandomTools.nextQuaternion32(random)); next.setSolutionQuality(random.nextDouble()); return next; }
public static HeatMapPacket nextHeatMapPacket(Random random) { HeatMapPacket next = new HeatMapPacket(); next.setHeight(RandomNumbers.nextInt(random, -100, 100)); next.setWidth(RandomNumbers.nextInt(random, -100, 100)); next.getData().add(RandomNumbers.nextFloatArray(random, next.getHeight() * next.getWidth(), 1.0f)); next.setName(Integer.toHexString(random.nextInt())); return next; }
@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout = 30000) public void testConstructor2() { Random random = new Random(); float[] ranges1; LidarScan lidarScan1 = null; for(int i = 0; i < 1000; i++) { int id = random.nextInt(); ranges1 = RandomNumbers.nextFloatArray(random, 720, 0, 5000); lidarScan1 = new LidarScan(new LidarScanParameters(), ranges1, id); assertEquals(lidarScan1.size(), 720, 1e-7f); assertEquals(lidarScan1.getSensorId(), id); } }
ranges1 = RandomNumbers.nextFloatArray(random, 100, 0, 5000); int pointsPerSweep = 1080; int fov = (int) (random.nextFloat() * Math.PI);
@ContinuousIntegrationTest(estimatedDuration = 0.1) @Test(timeout = 30000) public void testGetCopy() { Random random = new Random(); float[] ranges1; LidarScan lidarScan1 = null; for(int i = 0; i < 1000; i++) { int id = random.nextInt(); ranges1 = RandomNumbers.nextFloatArray(random, 720, 0, 5000); lidarScan1 = new LidarScan(new LidarScanParameters(), ranges1, id); LidarScan lidarScanCopy = lidarScan1.getCopy(); for(int j = 0; j < ranges1.length; j++) { assertEquals(lidarScan1.getRanges()[j], lidarScanCopy.getRanges()[j], 1e-7f); } } }
@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout = 30000) public void testGetRanges() { Random random = new Random(); float[] ranges1; LidarScan lidarScan1 = null; for(int i = 0; i < 1000; i++) { int id = random.nextInt(); ranges1 = RandomNumbers.nextFloatArray(random, 720, 0, 5000); lidarScan1 = new LidarScan(new LidarScanParameters(), ranges1, id); assertEquals(lidarScan1.getRanges().length, ranges1.length, 1e-7f); for(int j = 0; j < ranges1.length; j++) { assertEquals(lidarScan1.getRanges()[j], ranges1[j], 1e-7f); } } }
@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout = 30000) public void testConstructor() { Random random = new Random(); float[] ranges1; LidarScan lidarScan1 = null; for(int i = 0; i < 1000; i++) { ranges1 = RandomNumbers.nextFloatArray(random, 720, 0, 5000); RigidBodyTransform randomTransform1 = EuclidCoreRandomTools.nextRigidBodyTransform(random); RigidBodyTransform randomTransform2 = EuclidCoreRandomTools.nextRigidBodyTransform(random); lidarScan1 = new LidarScan(new LidarScanParameters(), randomTransform1, randomTransform2, ranges1); } assertEquals(lidarScan1.size(), 720, 1e-7f); }
@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout = 30000) public void testAssertLidarScanEquals() { Random random = new Random(); float[] ranges1 = RandomNumbers.nextFloatArray(random, 720, 0, 5000); float[] ranges1Shortened = ArrayUtils.subarray(ranges1, 0, 3000); RigidBodyTransform randomTransform1 = EuclidCoreRandomTools.nextRigidBodyTransform(random); RigidBodyTransform randomTransform2 = EuclidCoreRandomTools.nextRigidBodyTransform(random); final LidarScan lidarScan1 = new LidarScan(new LidarScanParameters(), randomTransform1, randomTransform2, ranges1); final LidarScan lidarScan2 = new LidarScan(new LidarScanParameters(), randomTransform1, randomTransform2, ranges1Shortened); assertLidarScanEquals(lidarScan1, lidarScan2, 1e-7, 1e-7f); }
public static RobotConfigurationData nextRobotConfigurationData(Random random) { RobotConfigurationData next = new RobotConfigurationData(); int size = random.nextInt(10000); next.setTimestamp(random.nextLong()); next.setSensorHeadPpsTimestamp(random.nextLong()); next.setJointNameHash(random.nextInt(10000)); next.getJointAngles().add(RandomNumbers.nextFloatArray(random, size, 1.0f)); next.getJointVelocities().add(RandomNumbers.nextFloatArray(random, size, 1.0f)); next.getJointTorques().add(RandomNumbers.nextFloatArray(random, size, 1.0f)); next.getRootTranslation().set(EuclidCoreRandomTools.nextVector3D32(random)); next.getPelvisLinearVelocity().set(EuclidCoreRandomTools.nextVector3D32(random)); next.getPelvisAngularVelocity().set(EuclidCoreRandomTools.nextVector3D32(random)); next.getRootOrientation().set(EuclidCoreRandomTools.nextQuaternion32(random)); next.getPelvisLinearAcceleration().set(EuclidCoreRandomTools.nextVector3D32(random)); size = Math.abs(random.nextInt(1000)); for (int i = 0; i < next.getForceSensorData().size(); i++) next.getForceSensorData().add().set(nextSpatialVectorMessage(random)); for (IMUPacket imuPacket : nextIMUPackets(random)) next.getImuSensorData().add().set(imuPacket); next.setRobotMotionStatus(RandomNumbers.nextEnum(random, RobotMotionStatus.class).toByte()); next.setLastReceivedPacketTypeId(random.nextInt(1000)); next.setLastReceivedPacketUniqueId(random.nextLong()); next.setLastReceivedPacketRobotTimestamp(random.nextLong()); return next; }
@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout = 30000) public void testAssertLidarScanTransformsEqual() { Random random = new Random(); float[] ranges1 = RandomNumbers.nextFloatArray(random, 720, 0, 5000); float[] ranges2 = RandomNumbers.nextFloatArray(random, 720, 0, 5000); RigidBodyTransform randomTransform1 = EuclidCoreRandomTools.nextRigidBodyTransform(random); RigidBodyTransform randomTransform2 = EuclidCoreRandomTools.nextRigidBodyTransform(random); RigidBodyTransform randomTransform3 = EuclidCoreRandomTools.nextRigidBodyTransform(random); RigidBodyTransform randomTransform4 = EuclidCoreRandomTools.nextRigidBodyTransform(random); final LidarScan lidarScan1 = new LidarScan(new LidarScanParameters(), randomTransform1, randomTransform2, ranges1); final LidarScan lidarScan2 = new LidarScan(new LidarScanParameters(), randomTransform1, randomTransform2, ranges2); assertLidarScanTransformsEqual(lidarScan1, lidarScan2, 1e-7); final LidarScan lidarScan3 = new LidarScan(new LidarScanParameters(), randomTransform3, randomTransform4, ranges2); Assertions.assertExceptionThrown(AssertionError.class, new RunnableThatThrows() { @Override public void run() throws Throwable { assertLidarScanTransformsEqual(lidarScan1, lidarScan3, 1e-7); } }); }
@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout = 30000) public void testAssertLidarScanRangesEqual() { Random random = new Random(); float[] ranges1 = RandomNumbers.nextFloatArray(random, 720, 0, 5000); float[] ranges2 = RandomNumbers.nextFloatArray(random, 720, 0, 5000); final LidarScan lidarScan1 = new LidarScan(new LidarScanParameters(), new RigidBodyTransform(), new RigidBodyTransform(), ranges1, random.nextInt()); final LidarScan lidarScan2 = new LidarScan(new LidarScanParameters(), new RigidBodyTransform(), new RigidBodyTransform(), ranges2, random.nextInt()); Assertions.assertExceptionThrown(AssertionError.class, new RunnableThatThrows() { @Override public void run() throws Throwable { assertLidarScanRangesEqual(lidarScan1, lidarScan2, 1e-7); } }); LidarScan lidarScan3 = new LidarScan(new LidarScanParameters(), new RigidBodyTransform(), new RigidBodyTransform(), ranges1, random.nextInt()); assertLidarScanRangesEqual(lidarScan1, lidarScan3, 1e-7); float[] ranges1Shortened = ArrayUtils.subarray(ranges1, 0, 3000); LidarScan lidarScan4 = new LidarScan(new LidarScanParameters(), new RigidBodyTransform(), new RigidBodyTransform(), ranges1Shortened, random.nextInt()); assertLidarScanRangesEqual(lidarScan1, lidarScan4, 1e-7); }
ranges1 = RandomNumbers.nextFloatArray(random, 720, 0, 5000);