Mechanical layer (C++)

Agent pushing another agent

Tests the force orthogonal to the contact surface, representing a damped spring interaction between two agents.

Tests cover:

Time and position continuity for each agent
Constant y position during x-axis push
Constant orientation (theta) during push
Near-zero angular velocity (omega) during push
Stationary phase (with near constant x, y, theta and near zero vx, vy, omega)

test_push_agent_agent.test.TIME_TOL = 0.0001: Tolerance for the constancy of the decisional time step used throughout the simulation (s).

test_push_agent_agent.test.MAX_SPATIAL_JUMP = 1: Maximum allowed spatial jump (m) between consecutive time steps for each agent.

test_push_agent_agent.test.DELTA_Y_TOL = 0.01: Tolerance for the constancy of y coordinate during the push on the x-axis and during the stationary phase (m).

test_push_agent_agent.test.VX_TOL = 0.01: Tolerance for near-zero velocities along x during stationary phase (m/s).

test_push_agent_agent.test.VY_TOL = 0.01: Tolerance for near-zero velocities along y during stationary phase (m/s).

test_push_agent_agent.test.OMEGA_TOL = 0.01: Tolerance for near-zero angular velocities during stationary phase (rad/s).

test_push_agent_agent.test.DELTA_X_TOL = 0.01: Tolerance for constancy of x position during stationary phase (m).

test_push_agent_agent.test.DELTA_THETA_TOL = 0.01: Tolerance for constancy of orientation during push and stationary phase (radians).

test_push_agent_agent.test.df()[source]

Export to CSV the XML files and load the time series once per test session.

Returns:: DataFrame containing all time series.
Return type:: pd.DataFrame

test_push_agent_agent.test.test_time_and_position_continuity(df)[source]

Test time and position continuity for each agent.

Parameters:: df (pd.DataFrame) -- DataFrame containing all time series.
Return type:: None

test_push_agent_agent.test.test_push_on_x_axis_only(df)[source]

Test that during the push on the x-axis, y and theta remain constant and omega ~ 0.

Parameters:: df (pd.DataFrame) -- DataFrame containing all time series.
Return type:: None

test_push_agent_agent.test.test_stationary_phase(df)[source]

Test that during the last 5% of the simulation the velocity is approximately zero.

Parameters:: df (pd.DataFrame) -- DataFrame containing all time series.
Return type:: None

Agent colliding with a wall

Tests the force orthogonal to the contact surface, representing a damped spring interaction between an agent and a wall.

Tests cover:

Time and position continuity for each agent
Constant y position during x-axis push
Constant orientation (theta) during push
Near-zero angular velocity (omega) during push
Stationary phase (with near constant x, y, theta and near zero vx, vy, omega)

test_push_agent_wall.test.TIME_TOL = 0.0001: Tolerance for the constancy of the decisional time step used throughout the simulation (s).

test_push_agent_wall.test.MAX_SPATIAL_JUMP = 1: Maximum allowed spatial jump (m) between consecutive time steps for the agent.

test_push_agent_wall.test.DELTA_Y_TOL = 0.01: Tolerance for the constancy of y coordinate during the push on the x-axis and during the stationary phase (m).

test_push_agent_wall.test.VX_TOL = 0.01: Tolerance for near-zero velocities along x during stationary phase (m/s).

test_push_agent_wall.test.VY_TOL = 0.01: Tolerance for near-zero velocities along y during stationary phase (m/s).

test_push_agent_wall.test.OMEGA_TOL = 0.01: Tolerance for near-zero angular velocities during stationary phase (rad/s).

test_push_agent_wall.test.DELTA_X_TOL = 0.01: Tolerance for constancy of x position during stationary phase (m).

test_push_agent_wall.test.DELTA_THETA_TOL = 0.01: Tolerance for constancy of orientation during push and stationary phase (radians).

test_push_agent_wall.test.df()[source]

Export to CSV the XML files and load the time series once per test session.

Returns:: DataFrame containing all time series.
Return type:: pd.DataFrame

test_push_agent_wall.test.test_time_and_position_continuity(df)[source]

Test time and position continuity for each agent.

Parameters:: df (pd.DataFrame) -- DataFrame containing all time series.
Return type:: None

test_push_agent_wall.test.test_push_on_x_axis_only(df)[source]

Test that during the push on the x-axis, y and theta remain constant and omega ~ 0.

Parameters:: df (pd.DataFrame) -- DataFrame containing all time series.
Return type:: None

test_push_agent_wall.test.test_stationary_phase(df)[source]

Test that during the last 5% of the simulation the velocity is approximately zero.

Parameters:: df (pd.DataFrame) -- DataFrame containing all time series.
Return type:: None

Agent sliding over other agents

Tests the Coulomb friction interaction between two agents as one slides over the other.

Tests cover:

Time and position continuity for each agent
Near-zero angular velocity (omega) and near constant orientation (theta) for all agents
Agents 0 and 1 should remain static translationally: translational velocity ~ 0, x and y coordinates ~ constants
Velocity of Agent 2 should be positive along the x-axis during the slip

test_slip_agent_agent.test.TIME_TOL = 0.0001: Tolerance for the constancy of the decisional time step used throughout the simulation (s).

test_slip_agent_agent.test.MAX_SPATIAL_JUMP = 1: Maximum allowed spatial jump (m) between consecutive time steps for each agent.

test_slip_agent_agent.test.VX_TOL = 0.01: Minimum velocity allowed for agent 2 along x during slip phase (m/s).

test_slip_agent_agent.test.VX_CONTACT_TOL = 0.5: Tolerance for near-zero velocities of agent 0 and 1 along x during the whole simulation (m/s).

test_slip_agent_agent.test.VY_CONTACT_TOL = 0.5: Tolerance for near-zero velocities of agent 0 and 1 along y during the whole simulation (m/s).

test_slip_agent_agent.test.OMEGA_CONTACT_TOL = 0.5: Tolerance for near-zero angular velocities of all agents during the whole simulation (rad/s).

test_slip_agent_agent.test.DELTA_THETA_CONTACT_TOL = 0.5: Maximum allowed range for orientation (theta) of all agents during the whole simulation (radians).

test_slip_agent_agent.test.DELTA_X_CONTACT_TOL = 0.5: Maximum allowed range for x of agents 0 and 1 during the whole simulation (m).

test_slip_agent_agent.test.DELTA_Y_CONTACT_TOL = 0.5: Maximum allowed range for y of agents 0 and 1 during the whole simulation (m).

test_slip_agent_agent.test.df()[source]

Export to CSV the XML files and load the time series once per test session.

Returns:: DataFrame containing all time series.
Return type:: pd.DataFrame

test_slip_agent_agent.test.test_time_and_position_continuity(df)[source]

Test time and position continuity for each agent.

Parameters:: df (pd.DataFrame) -- DataFrame containing all time series.
Return type:: None

test_slip_agent_agent.test.test_omega_near_zero_and_theta_near_constant(df)[source]

Test near-zero angular velocity (omega) and near constant orientation (theta) for all agents over the whole simulation.

Parameters:: df (pd.DataFrame) -- DataFrame containing all time series.
Return type:: None

test_slip_agent_agent.test.test_agents_0_and_1_static(df)[source]

Test that agents 0 and 1 remain static translationally: translational velocity ~ 0, x and y coordinates ~ constants.

Parameters:: df (pd.DataFrame) -- DataFrame containing all time series.
Return type:: None

test_slip_agent_agent.test.test_agent_2_positive_vx_during_slip(df)[source]

Test that the velocity of Agent 2 is positive along the x-axis during the slip phase (x < 2.8 meters).

Parameters:: df (pd.DataFrame) -- DataFrame containing all time series.
Return type:: None

Agent sliding over a wall

Tests the Coulomb friction interaction between an agent and a wall as the agent slides.

Tests cover:

Time and position continuity
Near-zero angular velocity (omega), constant orientation (theta)
Velocity along the x-axis should be positive during the core simulation
Velocity along the y-axis should be either near zero or negative during the core simulation

test_slip_agent_wall.test.TIME_TOL = 0.0001: Tolerance for the constancy of the decisional time step used throughout the simulation (s).

test_slip_agent_wall.test.MAX_SPATIAL_JUMP = 1: Maximum allowed spatial jump (m) between consecutive time steps for the agent.

test_slip_agent_wall.test.VX_TOL = 0.01: Opposite of the minimum allowed velocity along x during core simulation (m/s).

test_slip_agent_wall.test.VY_TOL = 0.01: Maximum allowed velocity along y during core simulation (m/s).

test_slip_agent_wall.test.OMEGA_CONTACT_TOL = 0.5: Tolerance for near-zero angular velocities of all agents during the whole simulation (rad/s).

test_slip_agent_wall.test.DELTA_THETA_CONTACT_TOL = 0.5: Maximum allowed range for orientation (theta) of all agents during the whole simulation (radians).

test_slip_agent_wall.test.df()[source]

Export to CSV the XML files and load the time series once per test session.

Returns:: DataFrame containing all time series.
Return type:: pd.DataFrame

test_slip_agent_wall.test.test_time_and_position_continuity(df)[source]

Test time and position continuity for each agent.

Parameters:: df (pd.DataFrame) -- DataFrame containing all time series.
Return type:: None

test_slip_agent_wall.test.test_omega_near_zero_and_theta_near_constant(df)[source]

Near-zero angular velocity and near constant orientation for all agents.

Parameters:: df (pd.DataFrame) -- DataFrame containing all time series.
Return type:: None

test_slip_agent_wall.test.test_velocity_signs_during_core(df)[source]

During the core of the simulation: vx > 0 and vy ~ 0 or negative where "core" is defined as the central 80% of the simulation time.

Parameters:: df (pd.DataFrame) -- DataFrame containing all time series.
Return type:: None

Agent translating and relaxing

Tests the behaviour as an agent rotates and gradually relaxes to a stationary state (no motion), due to the fluid-like torque.

Tests cover:

Time and position continuity
Angular velocity (omega) near zero during the whole simulation
Translational velocity vx positive or near zero during the whole simulation
Translation velocity vy near zero during the whole simulation
Orientation (theta) near constant during the whole simulation
Stationary phase (with near constant x, y, theta and near zero vx, vy, omega)

test_t_translation.test.TIME_TOL = 0.0001: Tolerance for the constancy of the decisional time step used throughout the simulation (s).

test_t_translation.test.MAX_SPATIAL_JUMP = 1: Maximum allowed spatial jump (m) between consecutive time steps for the agent.

test_t_translation.test.VX_TOL = 0.01: Opposite of the minimum allowed velocity along x during the whole simulation (m/s).

test_t_translation.test.VY_TOL = 0.01: Maximum allowed velocity along y during the whole simulation (m/s).

test_t_translation.test.OMEGA_TOL = 0.01: Maximum allowed angular velocity during the whole simulation (rad/s).

test_t_translation.test.DELTA_THETA_TOL = 0.01: Maximum allowed range for orientation (theta) during the whole simulation (radians).

test_t_translation.test.DELTA_Y_TOL = 0.01: Maximum allowed range for x during the stationary phase (m).

test_t_translation.test.DELTA_X_TOL = 0.01: Maximum allowed range for y during the stationary phase (m).

test_t_translation.test.df()[source]

Export to CSV the XML files and load the time series once per test session.

Returns:: DataFrame containing all time series.
Return type:: pd.DataFrame

test_t_translation.test.test_time_and_position_continuity(df)[source]

Test time and position continuity for each agent.

Parameters:: df (pd.DataFrame) -- DataFrame containing all time series.
Return type:: None

test_t_translation.test.test_omega_vx_vy_over_simulation(df)[source]

Omega ~ 0, vx >= ~0 and vy ~ 0, theta ~ const during the whole simulation.

Parameters:: df (pd.DataFrame) -- DataFrame containing all time series.
Return type:: None

test_t_translation.test.test_stationary_phase(df)[source]

Last 5% of the simulation is stationary: x, y, theta ~ const; vx, vy, omega ~ 0.

Parameters:: df (pd.DataFrame) -- DataFrame containing all time series.
Return type:: None

Agent rotating and relaxing

Tests the behaviour as an agent undergoes a translation and gradually relaxes to a stationary state (no motion) due to friction.

Tests cover:

Time and position continuity
Constant x and y position during the whole simulation
Translational velocity (vx, vy) near zero during the whole simulation
Positive or near zero angular velocity (omega)
Stationary phase (with near constant x, y, theta and near zero vx, vy, omega)

test_t_rotation.test.TIME_TOL = 0.0001: Tolerance for the constancy of the decisional time step used throughout the simulation (s).

test_t_rotation.test.MAX_SPATIAL_JUMP = 1: Maximum allowed spatial jump (m) between consecutive time steps for the agent.

test_t_rotation.test.VX_TOL = 0.01: Tolerance for near-zero velocities along x during the whole simulation (m/s).

test_t_rotation.test.OMEGA_TOL = 0.01: Tolerance for the positivity of angular velocity during the whole simulation (rad/s).

test_t_rotation.test.DELTA_THETA_TOL = 0.01: Tolerance for constancy of orientation during the stationary phase (radians).

test_t_rotation.test.DELTA_X_TOL = 0.01: Tolerance for constancy of x position during the stationary phase (m).

test_t_rotation.test.DELTA_Y_TOL = 0.01: Tolerance for constancy of y position during the stationary phase (m).

test_t_rotation.test.df()[source]

Export to CSV the XML files and load the time series once per test session.

Returns:: DataFrame containing all time series.
Return type:: pd.DataFrame

test_t_rotation.test.test_time_and_position_continuity(df)[source]

Test time and position continuity for each agent.

Parameters:: df (pd.DataFrame) -- DataFrame containing all time series.
Return type:: None

test_t_rotation.test.test_constant_position_and_near_zero_velocity(df)[source]

Position x, y should be constant and translational speed vx, vy ~ 0 for all agents during the whole simulation.

Parameters:: df (pd.DataFrame) -- DataFrame containing all time series.
Return type:: None

test_t_rotation.test.test_omega_positive_or_near_zero(df)[source]

Angular velocity should be positive or near zero for all agents.

Parameters:: df (pd.DataFrame) -- DataFrame containing all time series.
Return type:: None

test_t_rotation.test.test_stationary_phase(df)[source]

Last 5% of the simulation is fully stationary: x, y, theta constant; vx, vy, omega ~ 0.

Parameters:: df (pd.DataFrame) -- DataFrame containing all time series.
Return type:: None

Agent rolling over other agents without sliding

Tests the force tangential to the contact surface, representing a damped spring interaction between two agents.

Tests cover:

Time and position continuity
Positive or near zero angular velocity (omega) during the whole simulation

test_tangential_spring_agent_agent.test.TIME_TOL = 0.0001: Tolerance for the constancy of the decisional time step used throughout the simulation (s).

test_tangential_spring_agent_agent.test.MAX_SPATIAL_JUMP = 1: Maximum allowed spatial jump (m) between consecutive time steps for each agent.

test_tangential_spring_agent_agent.test.OMEGA_CONTACT_TOL = 0.1: Tolerance for the positivity of the angular velocity (rad/s) during the whole simulation.

test_tangential_spring_agent_agent.test.df()[source]

Export to CSV the XML files and load the time series once per test session.

Returns:: DataFrame containing all time series.
Return type:: pd.DataFrame

test_tangential_spring_agent_agent.test.test_time_and_position_continuity(df)[source]

Test time and position continuity for each agent.

Parameters:: df (pd.DataFrame) -- DataFrame containing all time series.
Return type:: None

test_tangential_spring_agent_agent.test.test_omega_positive_or_near_zero(df)[source]

Angular velocity should be positive or near zero for all agents over the whole simulation.

Parameters:: df (pd.DataFrame) -- DataFrame containing all time series.
Return type:: None

Agent rolling over a wall without sliding

Tests the force tangential to the contact surface, representing a damped spring interaction between an agent and a wall.

Tests cover:

Time and position continuity
Positive or near zero angular velocity (omega) during the whole simulation

test_tangential_spring_agent_wall.test.TIME_TOL = 0.0001: Tolerance for the constancy of the decisional time step used throughout the simulation (s).

test_tangential_spring_agent_wall.test.MAX_SPATIAL_JUMP = 1: Maximum allowed spatial jump (m) between consecutive time steps for the agent.

test_tangential_spring_agent_wall.test.OMEGA_CONTACT_TOL = 0.1: Tolerance for the positivity of the angular velocity (rad/s) during the whole simulation.

test_tangential_spring_agent_wall.test.df()[source]

Export to CSV the XML files and load the time series once per test session.

Returns:: DataFrame containing all time series.
Return type:: pd.DataFrame

test_tangential_spring_agent_wall.test.test_time_and_position_continuity(df)[source]

Test time and position continuity for each agent.

Parameters:: df (pd.DataFrame) -- DataFrame containing all time series.
Return type:: None

test_tangential_spring_agent_wall.test.test_omega_positive_or_near_zero(df)[source]

Angular velocity should be positive or near zero for all agents over the whole simulation.

Parameters:: df (pd.DataFrame) -- DataFrame containing all time series.
Return type:: None