POMDPPlanners.tests.test_environments.test_nuplan_pomdp package
Subpackages
- POMDPPlanners.tests.test_environments.test_nuplan_pomdp.test_nuplan_generative_models package
- Submodules
- POMDPPlanners.tests.test_environments.test_nuplan_pomdp.test_nuplan_generative_models.test_nuplan_factored_model_pomdp module
- POMDPPlanners.tests.test_environments.test_nuplan_pomdp.test_nuplan_generative_models.test_nuplan_kinematic_model_pomdp module
- POMDPPlanners.tests.test_environments.test_nuplan_pomdp.test_nuplan_generative_models.test_nuplan_model_pomdp module
- POMDPPlanners.tests.test_environments.test_nuplan_pomdp.test_nuplan_perception package
- Subpackages
- POMDPPlanners.tests.test_environments.test_nuplan_pomdp.test_nuplan_perception.test_observation_models package
- Submodules
- POMDPPlanners.tests.test_environments.test_nuplan_pomdp.test_nuplan_perception.test_observation_models.test_agent_models module
- POMDPPlanners.tests.test_environments.test_nuplan_pomdp.test_nuplan_perception.test_observation_models.test_ego_models module
- POMDPPlanners.tests.test_environments.test_nuplan_pomdp.test_nuplan_perception.test_observation_models.test_registry module
- POMDPPlanners.tests.test_environments.test_nuplan_pomdp.test_nuplan_perception.test_observation_models package
- Subpackages
Submodules
POMDPPlanners.tests.test_environments.test_nuplan_pomdp.test_nuplan_belief module
Unit tests for the perceived-agents nuPlan belief.
- POMDPPlanners.tests.test_environments.test_nuplan_pomdp.test_nuplan_belief.test_reinvigorate_preserves_trailing_light_slot()[source]
Stamping leaves any trailing traffic-light slot untouched.
Purpose: Validates the stamp is bounded to the agents block.
Given: Particles carrying a trailing light slot with a marker value When: reinvigorate stamps the observed agents Then: the trailing light slot keeps its marker value
Test type: unit
- Return type:
- POMDPPlanners.tests.test_environments.test_nuplan_pomdp.test_nuplan_belief.test_reinvigorate_returns_same_belief_type()[source]
Reinvigoration returns a PerceivedAgentsBelief so stamping repeats each step.
Purpose: Validates the returned belief type persists across the episode.
Given: A perceived-agents belief and a base particle belief When: reinvigorate is applied Then: the result is itself a PerceivedAgentsBelief
Test type: unit
- Return type:
- POMDPPlanners.tests.test_environments.test_nuplan_pomdp.test_nuplan_belief.test_reinvigorate_stamps_observed_agents_onto_particles()[source]
Reinvigoration writes the observed agent block onto every particle.
Purpose: Validates the belief acquires a mid-episode agent from the observation.
Given: Particles with an empty agent slot and an observation with a present agent When: reinvigorate stamps the observation Then: every particle’s agent slot becomes present at the observed pose
Test type: unit
- Return type:
- POMDPPlanners.tests.test_environments.test_nuplan_pomdp.test_nuplan_belief.test_stamped_agent_yaw_is_wrapped_to_pi()[source]
Pose jitter never pushes a stamped relative yaw outside [-pi, pi].
- Return type:
- Purpose: Validates the stamped agent block keeps the wrapped-angle slot invariant, so the
observation density never compares a wrapped yaw against an unwrapped one.
Given: An observed agent whose relative yaw sits just below +pi and large pose jitter When: reinvigorate stamps the observation onto the particles Then: every particle’s stamped relative yaw lies in [-pi, pi]
Test type: unit