Deleted duplicated tests

gym/f110_gym/envs/collision_models.py

@@ -271,89 +271,3 @@ def get_vertices(pose, length, width):
         [[rl[0], rl[1]], [rr[0], rr[1]], [fr[0], fr[1]], [fl[0], fl[1]]]
     )
     return vertices
-
-
-"""
-Unit test for GJK collision checks
-Author: Hongrui Zheng
-"""
-
-import time
-import unittest
-
-
-class CollisionTests(unittest.TestCase):
-    def setUp(self):
-        # test params
-        np.random.seed(1234)
-
-        # Collision check body
-        self.vertices1 = np.asarray([[4, 11.0], [5, 5], [9, 9], [10, 10]])
-
-        # car size
-        self.length = 0.32
-        self.width = 0.22
-
-    def test_get_vert(self):
-        test_pose = np.array([2.3, 6.7, 0.8])
-        vertices = get_vertices(test_pose, self.length, self.width)
-        rect = np.vstack((vertices, vertices[0, :]))
-        import matplotlib.pyplot as plt
-
-        plt.scatter(test_pose[0], test_pose[1], c="red")
-        plt.plot(rect[:, 0], rect[:, 1])
-        plt.xlim([1, 4])
-        plt.ylim([5, 8])
-        plt.axes().set_aspect("equal")
-        plt.show()
-        self.assertTrue(vertices.shape == (4, 2))
-
-    def test_get_vert_fps(self):
-        test_pose = np.array([2.3, 6.7, 0.8])
-        start = time.time()
-        for _ in range(1000):
-            vertices = get_vertices(test_pose, self.length, self.width)
-        elapsed = time.time() - start
-        fps = 1000 / elapsed
-        print("get vertices fps:", fps)
-        self.assertTrue(fps > 500)
-
-    def test_random_collision(self):
-        # perturb the body by a small amount and make sure it all collides with the original body
-        for _ in range(1000):
-            a = self.vertices1 + np.random.normal(size=(self.vertices1.shape)) / 100.0
-            b = self.vertices1 + np.random.normal(size=(self.vertices1.shape)) / 100.0
-            self.assertTrue(collision(a, b))
-
-    def test_multiple_collisions(self):
-        a = self.vertices1 + np.random.normal(size=(self.vertices1.shape)) / 100.0
-        b = self.vertices1 + np.random.normal(size=(self.vertices1.shape)) / 100.0
-        c = self.vertices1 + np.random.normal(size=(self.vertices1.shape)) / 100.0
-        d = self.vertices1 + np.random.normal(size=(self.vertices1.shape)) / 100.0
-        e = self.vertices1 + np.random.normal(size=(self.vertices1.shape)) / 100.0
-        f = self.vertices1 + np.random.normal(size=(self.vertices1.shape)) / 100.0
-        g = self.vertices1 + 10.0
-        allv = np.stack((a, b, c, d, e, f, g))
-        collisions, collision_idx = collision_multiple(allv)
-        self.assertTrue(
-            np.all(collisions == np.array([1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0]))
-        )
-        self.assertTrue(
-            np.all(collision_idx == np.array([5.0, 5.0, 5.0, 5.0, 5.0, 4.0, -1.0]))
-        )
-
-    def test_fps(self):
-        # also perturb the body but mainly want to test GJK speed
-        start = time.time()
-        for _ in range(1000):
-            a = self.vertices1 + np.random.normal(size=(self.vertices1.shape)) / 100.0
-            b = self.vertices1 + np.random.normal(size=(self.vertices1.shape)) / 100.0
-            collision(a, b)
-        elapsed = time.time() - start
-        fps = 1000 / elapsed
-        print("gjk fps:", fps)
-        self.assertTrue(fps > 500)
-
-
-if __name__ == "__main__":
-    unittest.main()