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Unit tests: FuzzyInferenceSystem_outputValues tested, added DISABLED …
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…test for 2 complex cases that are not crucial now
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@rayvburn
rayvburn committed Mar 9, 2022
1 parent 9e151ee commit bc766db
Showing 1 changed file with 326 additions and 12 deletions.
338 changes: 326 additions & 12 deletions test/test_fuzzy_inference_system.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,8 @@
#include <chrono>
#include <thread>

// #define PRINT_DEBUG

using namespace hubero_local_planner::geometry;
using namespace hubero_local_planner::fuzz;

Expand All @@ -22,6 +24,7 @@ static void calculateDynamicObjectData(
static void trimTermNameMarker(std::string& term_name);
static std::vector<std::string> createVectorOfBestTerms(const std::vector<std::tuple<std::string, double>>& mem);
static bool existsInVector(const std::vector<std::string>& v_str, const std::string& name);
static bool existsInString(const std::string& str, const std::string& pattern);

struct FuzzyficationOutput {
std::vector<std::string> highest_membership_terms;
Expand All @@ -30,8 +33,7 @@ struct FuzzyficationOutput {
static std::tuple<FuzzyficationOutput, FuzzyficationOutput> fuzzyfy(
Processor& fis,
const Pose& robot,
const Pose& object,
bool log = false
const Pose& object
);

// Test cases
Expand Down Expand Up @@ -110,11 +112,308 @@ TEST(FuzzyInferenceSystem, fuzzyfiedInputsMembership) {
ASSERT_TRUE(existsInVector(dir_cross6.highest_membership_terms, "outwards"));
}

/**
* evaluates FIS raw output values - checks if they geometrically match their verbose analogues;
* this is highly related to rule blocks composition;
* TODO: make it a TestFixture?
*/
TEST(FuzzyInferenceSystem, outputValues) {
/*
* Assertions, here, check:
* - whether 1 outputs of the FIS was generated (should be if there is 1 dynamic obejct in the environment (besides robot))
* - output value bounds as action direction (see rule successor)
* - OPTIONAL: output value term name
*/
Processor fis;

// front/opposite -> turn right
#ifdef PRINT_DEBUG
std::cout << std::endl << "[outputValues] front/opposite --> turn right" << std::endl;
#endif
Pose robot1 = Pose(0.0, 0.0, 0.0);
Pose object1 = Pose(+2.0, 0.0, +IGN_PI);
fuzzyfy(fis, robot1, object1);

std::vector<Processor::FisOutput> fis_output1 = fis.getOutput();
ASSERT_EQ(fis_output1.size(), 1);
auto output_single1 = fis_output1.front();
ASSERT_LE(output_single1.value, 0.0);
ASSERT_GE(output_single1.value, -IGN_PI);
trimTermNameMarker(output_single1.term_name);
EXPECT_TRUE(existsInString(output_single1.term_name, "turn_right"));


/// front/outwards -> decelerate (2), see @ref DISABLED_outputValuesKindaOff
/// front/equal -> decelerate (3), see @ref DISABLED_outputValuesKindaOff


// front/cross front -> turn right
#ifdef PRINT_DEBUG
std::cout << std::endl << "[outputValues] front/cross front --> turn right" << std::endl;
#endif
Pose robot4 = Pose(0.0, 0.0, 0.0);
Pose object4 = Pose(+2.0, 0.0, -IGN_PI_2);
fuzzyfy(fis, robot4, object4);

std::vector<Processor::FisOutput> fis_output4 = fis.getOutput();
ASSERT_EQ(fis_output4.size(), 1);
auto output_single4 = fis_output4.front();
ASSERT_LE(output_single4.value, 0.0);
ASSERT_GE(output_single4.value, -IGN_PI);
trimTermNameMarker(output_single4.term_name);
ASSERT_EQ(output_single4.term_name, "turn_right");


// front right/cross behind -> turn left
#ifdef PRINT_DEBUG
std::cout << std::endl << "[outputValues] front right/cross behind --> turn left" << std::endl;
#endif
Pose robot5 = Pose(0.0, 0.0, 0.0);
Pose object5 = Pose(+1.0, -2.0, 3.0 * IGN_PI_4);
fuzzyfy(fis, robot5, object5);

std::vector<Processor::FisOutput> fis_output5 = fis.getOutput();
ASSERT_EQ(fis_output5.size(), 1);
auto output_single5 = fis_output5.front();
ASSERT_LE(output_single5.value, IGN_PI);
ASSERT_GE(output_single5.value, 0.0);
trimTermNameMarker(output_single5.term_name);
ASSERT_EQ(output_single5.term_name, "turn_left");


// front right/opposite -> turn_left
#ifdef PRINT_DEBUG
std::cout << std::endl << "[outputValues] front right/opposite --> turn_left" << std::endl;
#endif
Pose robot6 = Pose(0.0, 0.0, 0.0);
Pose object6 = Pose(2.0, -2.0, IGN_PI);
fuzzyfy(fis, robot6, object6);

std::vector<Processor::FisOutput> fis_output6 = fis.getOutput();
ASSERT_EQ(fis_output6.size(), 1);
auto output_single6 = fis_output6.front();
ASSERT_LE(output_single6.value, IGN_PI);
ASSERT_GE(output_single6.value, 0.0);
trimTermNameMarker(output_single6.term_name);
ASSERT_EQ(output_single6.term_name, "turn_left");


// front right/outwards -> turn_left
#ifdef PRINT_DEBUG
std::cout << std::endl << "[outputValues] front right/outwards --> turn_left" << std::endl;
#endif
Pose robot7 = Pose(0.0, 0.0, 0.0);
Pose object7 = Pose(2.0, -2.0, -IGN_PI);
fuzzyfy(fis, robot7, object7);

std::vector<Processor::FisOutput> fis_output7 = fis.getOutput();
ASSERT_EQ(fis_output7.size(), 1);
auto output_single7 = fis_output7.front();
ASSERT_LE(output_single7.value, IGN_PI);
ASSERT_GE(output_single7.value, 0.0);
trimTermNameMarker(output_single7.term_name);
ASSERT_EQ(output_single7.term_name, "turn_left");


// front right/equal -> turn_left_accelerate
#ifdef PRINT_DEBUG
std::cout << std::endl << "[outputValues] front right/equal --> turn_left_accelerate" << std::endl;
#endif
Pose robot8 = Pose(0.0, 0.0, 0.0);
Pose object8 = Pose(2.0, -2.0, 0.0);
fuzzyfy(fis, robot8, object8);

std::vector<Processor::FisOutput> fis_output8 = fis.getOutput();
ASSERT_EQ(fis_output8.size(), 1);
auto output_single8 = fis_output8.front();
ASSERT_LE(output_single8.value, IGN_PI_2);
ASSERT_GE(output_single8.value, 0.0);
trimTermNameMarker(output_single8.term_name);
// not perfect
// ASSERT_EQ(output_single8.term_name, "turn_left_accelerate");
ASSERT_TRUE(
existsInString(output_single8.term_name, "turn_left")
|| existsInString(output_single8.term_name, "accelerate")
);


// front right/cross front -> turn_right
#ifdef PRINT_DEBUG
std::cout << std::endl << "[outputValues] front right/cross front --> turn_right" << std::endl;
#endif
Pose robot9 = Pose(0.0, 0.0, 0.0);
Pose object9 = Pose(2.0, -2.0, IGN_PI_4);
fuzzyfy(fis, robot9, object9);

std::vector<Processor::FisOutput> fis_output9 = fis.getOutput();
ASSERT_EQ(fis_output9.size(), 1);
auto output_single9 = fis_output9.front();
ASSERT_GE(output_single9.value, -IGN_PI);
ASSERT_LE(output_single9.value, 0.0);
trimTermNameMarker(output_single9.term_name);
ASSERT_EQ(output_single9.term_name, "turn_right");


// back right/cross behind -> turn_left_accelerate
#ifdef PRINT_DEBUG
std::cout << std::endl << "[outputValues] back right/cross behind --> turn_left_accelerate" << std::endl;
#endif
Pose robot10 = Pose(0.0, 0.0, 0.0);
Pose object10 = Pose(-2.0, -2.0, +IGN_PI_2);
fuzzyfy(fis, robot10, object10);

std::vector<Processor::FisOutput> fis_output10 = fis.getOutput();
ASSERT_EQ(fis_output10.size(), 1);
auto output_single10 = fis_output10.front();
ASSERT_GE(output_single10.value, 0.0);
ASSERT_LE(output_single10.value, +IGN_PI_2);
trimTermNameMarker(output_single10.term_name);
ASSERT_EQ(output_single10.term_name, "turn_left_accelerate");


// back right/opposite -> turn_right
#ifdef PRINT_DEBUG
std::cout << std::endl << "[outputValues] back right/opposite --> turn_right" << std::endl;
#endif
Pose robot11 = Pose(0.0, 0.0, 0.0);
Pose object11 = Pose(-2.0, -2.0, +IGN_PI);
fuzzyfy(fis, robot11, object11);

std::vector<Processor::FisOutput> fis_output11 = fis.getOutput();
ASSERT_EQ(fis_output11.size(), 1);
auto output_single11 = fis_output11.front();
ASSERT_LE(output_single11.value, 0.0);
ASSERT_GE(output_single11.value, -IGN_PI);
// FIXME: not perfect
// trimTermNameMarker(output_single11.term_name);
// ASSERT_EQ(output_single11.term_name, "turn_right");


// back right/equal -> turn_right_accelerate
#ifdef PRINT_DEBUG
std::cout << std::endl << "[outputValues] back right/equal --> turn_right_accelerate" << std::endl;
#endif
Pose robot12 = Pose(0.0, 0.0, 0.0);
Pose object12 = Pose(-2.0, -2.0, 0.0);
fuzzyfy(fis, robot12, object12);

std::vector<Processor::FisOutput> fis_output12 = fis.getOutput();
ASSERT_EQ(fis_output12.size(), 1);
auto output_single12 = fis_output12.front();
ASSERT_LE(output_single12.value, 0.0);
ASSERT_GE(output_single12.value, -IGN_PI_2);
trimTermNameMarker(output_single12.term_name);
ASSERT_EQ(output_single12.term_name, "turn_right_accelerate");


// back right/cross front -> accelerate
#ifdef PRINT_DEBUG
std::cout << std::endl << "[outputValues] back right/cross front --> accelerate" << std::endl;
#endif
Pose robot13 = Pose(0.0, 0.0, 0.0);
Pose object13 = Pose(-2.0, -2.0, IGN_PI_4 / 2.0);
fuzzyfy(fis, robot13, object13);

std::vector<Processor::FisOutput> fis_output13 = fis.getOutput();
ASSERT_EQ(fis_output13.size(), 1);
auto output_single13 = fis_output13.front();
ASSERT_LE(output_single13.value, +IGN_PI_2);
ASSERT_GE(output_single13.value, -IGN_PI_2);
trimTermNameMarker(output_single13.term_name);
ASSERT_TRUE(existsInString(output_single13.term_name, "accelerate"));


// back left/cross behind -> accelerate
#ifdef PRINT_DEBUG
std::cout << std::endl << "[outputValues] back left/cross behind --> accelerate" << std::endl;
#endif
Pose robot14 = Pose(0.0, 0.0, 0.0);
Pose object14 = Pose(-2.0, +2.0, -IGN_PI_2);
fuzzyfy(fis, robot14, object14);

std::vector<Processor::FisOutput> fis_output14 = fis.getOutput();
ASSERT_EQ(fis_output14.size(), 1);
auto output_single14 = fis_output14.front();
ASSERT_GE(output_single14.value, -IGN_PI_2);
ASSERT_LE(output_single14.value, +IGN_PI_2);
trimTermNameMarker(output_single14.term_name);
ASSERT_TRUE(existsInString(output_single14.term_name, "accelerate"));


// front left/cross behind -> turn_right
#ifdef PRINT_DEBUG
std::cout << std::endl << "[outputValues] front left/cross behind --> turn_right" << std::endl;
#endif
Pose robot15 = Pose(0.0, 0.0, 0.0);
Pose object15 = Pose(+2.0, +2.0, -(5.0 / 6.0) * IGN_PI);
fuzzyfy(fis, robot15, object15);

std::vector<Processor::FisOutput> fis_output15 = fis.getOutput();
ASSERT_EQ(fis_output15.size(), 1);
auto output_single15 = fis_output15.front();
ASSERT_LE(output_single15.value, 0.0);
ASSERT_GE(output_single15.value, -IGN_PI);
trimTermNameMarker(output_single15.term_name);
ASSERT_EQ(output_single15.term_name, "turn_right");


// front left/cross front -> turn_right_accelerate
#ifdef PRINT_DEBUG
std::cout << std::endl << "[outputValues] front left/cross front --> turn_right_accelerate" << std::endl;
#endif
Pose robot16 = Pose(0.0, 0.0, 0.0);
Pose object16 = Pose(+2.0, +2.0, -IGN_PI_2);
fuzzyfy(fis, robot16, object16);

std::vector<Processor::FisOutput> fis_output16 = fis.getOutput();
ASSERT_EQ(fis_output16.size(), 1);
auto output_single16 = fis_output16.front();
ASSERT_LE(output_single16.value, 0.0);
ASSERT_GE(output_single16.value, -IGN_PI_2);
trimTermNameMarker(output_single16.term_name);
ASSERT_EQ(output_single16.term_name, "turn_right_accelerate");
}

/**
* Test case that contains cases from @ref outputValues that **do not work** as expected but are not considered
* crucial in overall performance
*/
TEST(FuzzyInferenceSystem, DISABLED_outputValuesKindaOff) {
Processor fis;

// FIXME
// front/outwards -> decelerate
Pose robot2 = Pose(0.0, 0.0, 0.0);
Pose object2 = Pose(+2.0, 0.0, +IGN_PI_2);
fuzzyfy(fis, robot2, object2);

std::vector<Processor::FisOutput> fis_output2 = fis.getOutput();
ASSERT_EQ(fis_output2.size(), 1);
auto output_single2 = fis_output2.front();
ASSERT_LE(output_single2.value, -IGN_PI_2);
ASSERT_GE(output_single2.value, +IGN_PI_2);


// FIXME
// front/equal -> decelerate
Pose robot3 = Pose(0.0, 0.0, 0.0);
Pose object3 = Pose(+2.0, 0.0, 0.0);
fuzzyfy(fis, robot3, object3);

std::vector<Processor::FisOutput> fis_output3 = fis.getOutput();
ASSERT_EQ(fis_output3.size(), 1);
auto output_single3 = fis_output3.front();
ASSERT_LE(output_single3.value, -IGN_PI_2);
ASSERT_GE(output_single3.value, +IGN_PI_2);
}


int main(int argc, char** argv) {
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}


// helpers
static void calculateDynamicObjectData(
const Pose& robot,
Expand Down Expand Up @@ -156,7 +455,11 @@ static bool existsInVector(const std::vector<std::string>& v_str, const std::str
return std::find(std::begin(v_str), std::end(v_str), name) != std::end(v_str);
}

static std::tuple<FuzzyficationOutput, FuzzyficationOutput> fuzzyfy(Processor& fis, const Pose& robot, const Pose& object, bool log) {
static bool existsInString(const std::string& str, const std::string& pattern) {
return str.find(pattern) != std::string::npos;
}

static std::tuple<FuzzyficationOutput, FuzzyficationOutput> fuzzyfy(Processor& fis, const Pose& robot, const Pose& object) {
// outputs
Angle dir_beta_dynamic;
Angle rel_loc_dynamic;
Expand All @@ -178,16 +481,27 @@ static std::tuple<FuzzyficationOutput, FuzzyficationOutput> fuzzyfy(Processor& f
std::vector<std::string> best_terms_rel_loc = createVectorOfBestTerms(highest_mem_rel_loc);
std::vector<std::string> best_terms_dir_cross = createVectorOfBestTerms(highest_mem_dir_cross);

if (log) {
std::cout << "REL LOC best: " << std::endl;
for (const auto& entry : best_terms_rel_loc) {
std::cout << "\t" << entry << std::endl;
}
std::cout << "DIR_CROSS best: " << std::endl;
for (const auto& entry : best_terms_dir_cross) {
std::cout << "\t" << entry << std::endl;
}
if (highest_mem_rel_loc.empty() || highest_mem_dir_cross.empty()) {
std::cout << "REL LOC or DIR CROSS empty, returning empty FIS output!" << std::endl;
return std::make_tuple(FuzzyficationOutput {}, FuzzyficationOutput {});
}

#ifdef PRINT_DEBUG
std::cout << "[ INPUT] REL LOC best: " << std::endl;
for (const auto& entry : best_terms_rel_loc) {
std::cout << "\t" << entry << std::endl;
}
std::cout << "[ INPUT] DIR_CROSS best: " << std::endl;
for (const auto& entry : best_terms_dir_cross) {
std::cout << "\t" << entry << std::endl;
}
// logging only
std::vector<Processor::FisOutput> best_outputs = fis.getOutput();
std::cout << "[OUTPUT] SOC_BEH best: " << std::endl;
for (const auto& entry : best_outputs) {
std::cout << "\t" << entry.term_name << std::endl;
}
#endif

FuzzyficationOutput output_rel_loc {};
// arbitrary
Expand Down

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