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test_distance_domain.py
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test_distance_domain.py
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"""
Unit tests of the module distance-scale measures
"""
import unittest
from commonroad_crime.data_structure.configuration import CriMeConfiguration
from commonroad_crime.measure import PSD, MSD, HW, DCE
import commonroad_crime.utility.logger as util_logger
from commonroad.common.file_reader import CommonRoadFileReader
class TestDistanceDomain(unittest.TestCase):
def setUp(self) -> None:
super().setUp()
scenario_id = "ZAM_Urban-3_3_Repair"
self.config = CriMeConfiguration()
self.config.general.set_scenario_name(scenario_id)
self.config.vehicle.ego_id = 8
util_logger.initialize_logger(self.config)
self.config.print_configuration_summary()
self.config.update()
def test_MSD_PSD(self):
self.config.general.name_scenario = "BEL_Putte-8_2_T-1"
sce_crosswalk, _ = CommonRoadFileReader(self.config.general.path_scenario).open(
lanelet_assignment=True
)
self.config.update(ego_id=349, sce=sce_crosswalk)
msd_object = MSD(self.config)
msd = msd_object.compute(328, 0)
self.assertEqual(msd, 0.32)
self.config.debug.plot_limits = [-320, -380, 210, 290]
msd_object.visualize()
psd_object = PSD(self.config)
psd = psd_object.compute(328, 0)
self.assertEqual(psd, 38.49)
psd_object.visualize()
def test_hw(self):
hw_object = HW(self.config)
hw = hw_object.compute(6, 0)
self.assertGreater(hw, 0)
self.assertEqual(hw, 20.75)
hw_object.visualize()
def test_dce(self):
dce_object_1 = DCE(self.config)
dce_1 = dce_object_1.compute(6, 0)
dce_object_1.visualize()
self.assertEqual(dce_1, 0.00)
dce_object_2 = DCE(self.config)
dce_2 = dce_object_2.compute(7, 0)
dce_object_2.visualize()
self.assertEqual(dce_2, 0.98)