mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-22 21:46:36 +00:00
Yuzviak
50 lines
1.8 KiB
Python
50 lines
1.8 KiB
Python
"""SyntheticAdapter produces a deterministic straight-line trajectory."""
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import numpy as np
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from gps_denied.testing.datasets.base import PlatformClass
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from gps_denied.testing.datasets.synthetic import SyntheticAdapter
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def test_synthetic_has_raw_imu():
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adapter = SyntheticAdapter(num_frames=10, fps=5.0)
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assert adapter.capabilities.has_raw_imu is True
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assert adapter.capabilities.platform_class == PlatformClass.SYNTHETIC
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def test_synthetic_iter_frames_count():
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adapter = SyntheticAdapter(num_frames=10, fps=5.0)
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frames = list(adapter.iter_frames())
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assert len(frames) == 10
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assert frames[0].frame_idx == 0
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assert frames[-1].frame_idx == 9
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def test_synthetic_frame_timestamps_monotonic():
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adapter = SyntheticAdapter(num_frames=10, fps=5.0)
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ts = [f.timestamp_ns for f in adapter.iter_frames()]
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assert ts == sorted(ts)
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# 5 fps → 200 ms spacing
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deltas = np.diff(ts)
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assert np.allclose(deltas, 200_000_000)
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def test_synthetic_imu_samples_cover_frames():
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adapter = SyntheticAdapter(num_frames=10, fps=5.0, imu_rate_hz=100.0)
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imu = list(adapter.iter_imu())
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# 10 frames at 5 fps = 2 s of data, at 100 Hz = 200 samples
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assert len(imu) == 200
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# Static trajectory → gravity on z, zero gyro
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assert abs(imu[0].accel[2] + 9.81) < 1e-6
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assert imu[0].gyro == (0.0, 0.0, 0.0)
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def test_synthetic_ground_truth_matches_frames():
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adapter = SyntheticAdapter(num_frames=10, fps=5.0)
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poses = list(adapter.iter_ground_truth())
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assert len(poses) == 10
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# Straight-line east at 10 m/s → position at t=0.2s is 2m east of origin
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# (synthetic puts GT at same timestamps as frames)
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assert abs(poses[1].lat - poses[0].lat) < 1e-9 # no latitude change
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assert poses[1].lon > poses[0].lon # moving east
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