Commit 84db83ad authored by Jesse Mapel's avatar Jesse Mapel Committed by GitHub
Browse files

Made States use NaNs if it doesn't have velocity (#349) 

* Made States use NaNs if it doesn't have velocity

* Switched to ors
parent 888c4f52

include/ale/States.h

+11 −0
Original line number Diff line number Diff line 
#ifndef ALE_STATES_H

#define ALE_STATES_H



#include <cmath>

#include <limits>

#include <vector>

#include <stdexcept>
@@ -23,8 +25,17 @@ namespace ale { 
      velocity = {vec[3], vec[4], vec[5]};

    };



    State(Vec3d position) : position(position) {

      velocity = {std::numeric_limits<double>::quiet_NaN(),

                  std::numeric_limits<double>::quiet_NaN(),

                  std::numeric_limits<double>::quiet_NaN()};

    };

    State(Vec3d position, Vec3d velocity) : position(position), velocity(velocity) {};

    State() {};



    bool hasVelocity() const {

      return !(std::isnan(velocity.x) || std::isnan(velocity.y) || std::isnan(velocity.z));

    }

  };



  class States {

src/States.cpp

+4 −6
Original line number Diff line number Diff line
@@ -23,9 +23,8 @@ namespace ale { 
      throw std::invalid_argument("Length of times must match number of positions");

    }



    Vec3d velocities = {0.0, 0.0, 0.0};

    for (Vec3d position : positions) {

      m_states.push_back(State(position, velocities));

      m_states.push_back(State(position));

    }

  }
@@ -93,10 +92,9 @@ namespace ale { 




  bool States::hasVelocity() const {

    std::vector<Vec3d> velocities = getVelocities();

    bool allZero = std::all_of(velocities.begin(), velocities.end(), [](Vec3d vec)

                               { return vec.x==0.0 && vec.y==0.0 && vec.z==0.0; });

    return !allZero;

    bool allVelocity = std::all_of(m_states.begin(), m_states.end(), [](State vec)

                                   { return vec.hasVelocity(); });

    return allVelocity;

  }

tests/ctests/IsdTests.cpp

+4 −10
Original line number Diff line number Diff line
@@ -158,7 +158,6 @@ TEST(Isd, GetSunPositions) { 


  ale::States sunPosObj = ale::getSunPosition(jsunpos);

  std::vector<ale::Vec3d> position = sunPosObj.getPositions();

  std::vector<ale::Vec3d> velocity = sunPosObj.getVelocities();



  ASSERT_EQ(sunPosObj.getStates().size(), 1);

  ASSERT_EQ(sunPosObj.getReferenceFrame(), 2);
@@ -168,14 +167,12 @@ TEST(Isd, GetSunPositions) { 
  ASSERT_EQ(position[0].y, 12);

  ASSERT_EQ(position[0].z, 13);



  ASSERT_EQ(velocity[0].x, 0);

  ASSERT_EQ(velocity[0].y, 0);

  ASSERT_EQ(velocity[0].z, 0);

  ASSERT_FALSE(sunPosObj.hasVelocity());



  jsunpos["sun_position"]["velocities"] = {{1, 2, 3}};



  sunPosObj = ale::getSunPosition(jsunpos);

  velocity = sunPosObj.getVelocities();

  std::vector<ale::Vec3d> velocity = sunPosObj.getVelocities();



  ASSERT_EQ(velocity[0].x, 1);

  ASSERT_EQ(velocity[0].y, 2);
@@ -206,7 +203,6 @@ TEST(Isd, GetInstrumentPositions) { 


  ale::States instPosObj = ale::getInstrumentPosition(jinstpos);

  std::vector<ale::Vec3d> positions = instPosObj.getPositions();

  std::vector<ale::Vec3d> velocities = instPosObj.getVelocities();



  ASSERT_EQ(instPosObj.getStates().size(), 2);

  ASSERT_EQ(instPosObj.getReferenceFrame(), 4);
@@ -222,14 +218,12 @@ TEST(Isd, GetInstrumentPositions) { 
  ASSERT_EQ(positions[1].y, 12);

  ASSERT_EQ(positions[1].z, 13);



  ASSERT_EQ(velocities[0].x, 0);

  ASSERT_EQ(velocities[0].y, 0);

  ASSERT_EQ(velocities[0].z, 0);

  ASSERT_FALSE(instPosObj.hasVelocity());



  jinstpos["instrument_position"]["velocities"] = {{0, 1, 2}, {3, 4, 5}};



  instPosObj = ale::getInstrumentPosition(jinstpos);

  velocities = instPosObj.getVelocities();

  std::vector<ale::Vec3d> velocities = instPosObj.getVelocities();



  ASSERT_EQ(velocities[0].x, 0);

  ASSERT_EQ(velocities[0].y, 1);

tests/ctests/StatesTests.cpp

+1 −6
Original line number Diff line number Diff line
@@ -29,15 +29,10 @@ TEST(StatesTest, ConstructorPositionNoVelocity) { 
  EXPECT_NEAR(states[0].position.x, 4.0, 1e-10);

  EXPECT_NEAR(states[0].position.y, 1.0, 1e-10);

  EXPECT_NEAR(states[0].position.z, 4.0, 1e-10);

  EXPECT_NEAR(states[0].velocity.x, 0.0, 1e-10);

  EXPECT_NEAR(states[0].velocity.y, 0.0, 1e-10);

  EXPECT_NEAR(states[0].velocity.z, 0.0, 1e-10);

  EXPECT_NEAR(states[3].position.x, 7.0, 1e-10);

  EXPECT_NEAR(states[3].position.y, 4.0, 1e-10);

  EXPECT_NEAR(states[3].position.z, 1.0, 1e-10);

  EXPECT_NEAR(states[3].velocity.x, 0.0, 1e-10);

  EXPECT_NEAR(states[3].velocity.y, 0.0, 1e-10);

  EXPECT_NEAR(states[3].velocity.z, 0.0, 1e-10);

  EXPECT_FALSE(noVelocityState.hasVelocity());

}



TEST(StatesTest, ConstructorPositionAndVelocity) {