POMDPPlanners.tests.test_environments.test_push_pomdp package

Tests for Push POMDP environments.

This package contains test modules for the Push POMDP environments: - test_push_pomdp.py: Discrete Push POMDP environment tests - test_continuous_push_pomdp.py: Continuous Push POMDP environment tests - test_continuous_push_geometry.py: Continuous Push geometry utility tests - test_push_pomdp_beliefs/: Belief factory and vectorized updater tests

Subpackages

• POMDPPlanners.tests.test_environments.test_push_pomdp.push_pomdp_utils package
  • Submodules
  • POMDPPlanners.tests.test_environments.test_push_pomdp.push_pomdp_utils.test_push_reward_cpp_parity module
• POMDPPlanners.tests.test_environments.test_push_pomdp.test_push_pomdp_beliefs package
  • Submodules
  • POMDPPlanners.tests.test_environments.test_push_pomdp.test_push_pomdp_beliefs.test_continuous_push_belief_factory module
  • POMDPPlanners.tests.test_environments.test_push_pomdp.test_push_pomdp_beliefs.test_continuous_push_vectorized_updater module
    • TestBeliefEquivalenceWithBaseline
      • TestBeliefEquivalenceWithBaseline.setup_method()
      • TestBeliefEquivalenceWithBaseline.test_sample_distributions_match_post_update()
      • TestBeliefEquivalenceWithBaseline.test_update_particles_match()
      • TestBeliefEquivalenceWithBaseline.test_update_weights_match()
    • TestContinuousPushVectorizedUpdater
      • TestContinuousPushVectorizedUpdater.setup_method()
      • TestContinuousPushVectorizedUpdater.test_batch_obs_log_likelihood_matches_per_particle_loop()
      • TestContinuousPushVectorizedUpdater.test_batch_observation_log_likelihood_shape()
      • TestContinuousPushVectorizedUpdater.test_batch_transition_matches_per_particle_loop()
      • TestContinuousPushVectorizedUpdater.test_batch_transition_shape()
      • TestContinuousPushVectorizedUpdater.test_batch_transition_target_preserved()
      • TestContinuousPushVectorizedUpdater.test_batch_transition_with_string_action()
      • TestContinuousPushVectorizedUpdater.test_config_id_deterministic()
      • TestContinuousPushVectorizedUpdater.test_from_environment_discrete()
      • TestContinuousPushVectorizedUpdater.test_log_likelihood_finite()
  • POMDPPlanners.tests.test_environments.test_push_pomdp.test_push_pomdp_beliefs.test_push_belief_factory module
  • POMDPPlanners.tests.test_environments.test_push_pomdp.test_push_pomdp_beliefs.test_push_vectorized_updater module

Submodules

POMDPPlanners.tests.test_environments.test_push_pomdp.test_continuous_push_geometry module

Tests for Continuous Push POMDP geometry utilities.

This module tests circle-AABB overlap, point-inside-AABB, collision resolution, and grid clamping functions, including their batch variants.

class POMDPPlanners.tests.test_environments.test_push_pomdp.test_continuous_push_geometry.TestContinuousPushGeometry

Bases: object

Test circle-AABB and point-AABB geometry utilities.

setup_method()

Set up shared test fixtures.

test_batch_clamp_circle_to_grid_shapes()

Test batch circle grid clamping output shape.

Purpose: Validates output shape of batch circle clamping.

Given: 10 random positions. When: batch_clamp_circle_to_grid is called. Then: Output shape matches (10, 2) and values are in range.

Test type: unit

test_batch_clamp_point_to_grid()

Test batch point grid clamping.

Purpose: Validates batch point clamping bounds.

Given: Points at (-1, 20) and (5, 5). When: batch_clamp_point_to_grid is called with grid_size=10. Then: First is clamped to (0, 9), second unchanged.

Test type: unit

test_batch_point_inside_aabb()

Test batch point-inside-AABB detection.

Purpose: Validates batch point-inside-AABB returns correct booleans.

Given: Points at (5, 5) inside and (0, 0) outside the AABB. When: batch_point_inside_aabb is called. Then: First is True, second is False.

Test type: unit

test_batch_resolve_circle_wall_collision_shapes()

Test batch circle-wall collision resolution output shape.

Purpose: Validates output shape of batch collision resolution.

Given: 10 random positions with radius 0.5 and one wall. When: batch_resolve_circle_wall_collision is called. Then: Output shape matches input shape (10, 2).

Test type: unit

test_circle_aabb_overlap_false()

Test that non-overlapping circle-AABB returns False.

Purpose: Validates that distant circles are not detected as overlapping.

Given: A circle centered at (1.0, 1.0) with radius 0.3 and an AABB

centered at (5, 5) with half-extent 1.

When: circle_aabb_overlap is called. Then: Returns False.

Test type: unit

test_circle_aabb_overlap_true()

Test that overlapping circle-AABB returns True.

Purpose: Validates circle-AABB overlap detection.

Given: A circle centered at (3.5, 5.0) with radius 1.0 and

an AABB centered at (5, 5) with half-extent 1.

When: circle_aabb_overlap is called. Then: Returns True because the circle reaches into the AABB.

Test type: unit

test_clamp_circle_to_grid()

Test that circle clamping keeps circle within grid.

Purpose: Validates grid clamping for circles.

Given: A circle centered at (-1, 12) with radius 0.3 on a grid of size 10. When: clamp_circle_to_grid is called. Then: Center is clamped to [radius, grid_size - 1 - radius].

Test type: unit

test_clamp_point_to_grid()

Test that point clamping keeps point within [0, grid_size-1].

Purpose: Validates grid clamping for points.

Given: A point at (-2, 15) on a grid of size 10. When: clamp_point_to_grid is called. Then: Point is clamped to [0, 9].

Test type: unit

test_point_inside_aabb_false()

Test that a point outside an AABB is not detected.

Purpose: Validates point-outside-AABB.

Given: A point at (1.0, 1.0) outside the AABB [4, 6] x [4, 6]. When: point_inside_aabb is called. Then: Returns False.

Test type: unit

test_point_inside_aabb_true()

Test that a point inside an AABB is detected.

Purpose: Validates point-inside-AABB test.

Given: A point at (5.0, 5.0) inside the AABB [4, 6] x [4, 6]. When: point_inside_aabb is called. Then: Returns True.

Test type: unit

test_resolve_circle_wall_collision_no_walls()

Test collision resolution with no walls returns copy.

Purpose: Validates no-op when there are no walls.

Given: Empty walls array. When: resolve_circle_wall_collision is called. Then: Returns a copy of the original position.

Test type: unit

test_resolve_circle_wall_collision_pushes_out()

Test that collision resolution pushes circle away from AABB.

Purpose: Validates that an overlapping circle is pushed out.

Given: A circle centered at (4.5, 5.0) with radius 0.3 overlapping

the AABB [4, 6] x [4, 6].

When: resolve_circle_wall_collision is called. Then: The returned position moves the circle center away from

the original overlap.

Test type: unit

POMDPPlanners.tests.test_environments.test_push_pomdp.test_continuous_push_native_equivalence module

POMDPPlanners.tests.test_environments.test_push_pomdp.test_continuous_push_pomdp module

POMDPPlanners.tests.test_environments.test_push_pomdp.test_push_discrete_native_transition module

POMDPPlanners.tests.test_environments.test_push_pomdp.test_push_pomdp module