diff --git a/navipy/moving/agent.py b/navipy/moving/agent.py
index 2d7f11c8d863afafb2f6ce43b0127c42efdbf4d8..7b30f1721f9bc6a4ebddcbb43949704884ccb7e8 100644
--- a/navipy/moving/agent.py
+++ b/navipy/moving/agent.py
@@ -49,10 +49,9 @@ class DefaultBrain():
class AbstractAgent():
- def __init__(self):
+ def __init__(self, convention='rxyz'):
self._brain = DefaultBrain()
self._alter_posorientvel = defaultcallback
- convention = 'rxyz'
tuples = [('location', 'x'), ('location', 'y'),
('location', 'z'), (convention, 'alpha_0'),
(convention, 'alpha_1'), (convention, 'alpha_2')]
@@ -150,8 +149,10 @@ CyberBeeAgent is a close loop agent and need to be run within blender \
"""
- def __init__(self, brain):
- AbstractAgent.__init__(self)
+ def __init__(self, brain, convention):
+ if convention is None:
+ raise Exception("a convention must be specified")
+ AbstractAgent.__init__(self, convention)
AbstractAgent._alter_posorientvel = \
lambda motion_vec: navimomath.next_pos(motion_vec,
move_mode='free_run')
@@ -175,12 +176,14 @@ GridAgent is a close loop agent here its position is snap to a grid.
"""
- def __init__(self, brain,
+ def __init__(self, brain, convention,
posorients_queue=None,
results_queue=None):
+ if convention is None:
+ raise Exception("convention must be set")
if (posorients_queue is not None) and (results_queue is not None):
multiprocessing.Process.__init__(self)
- AbstractAgent.__init__(self)
+ AbstractAgent.__init__(self, convention)
self._alter_posorientvel = self.snap_to_grid
self.brain = brain
self._posorients_queue = posorients_queue
diff --git a/navipy/moving/maths.py b/navipy/moving/maths.py
index faf87530763c04410ee6c360c5b4cbc6628a1cac..55389c762ea1d37fa746d49f06d5f03437e77f9e 100644
--- a/navipy/moving/maths.py
+++ b/navipy/moving/maths.py
@@ -53,7 +53,7 @@ def next_pos(motion_vec, move_mode, move_param=None):
phi = np.arctan2(speed['location']['dy'], speed['location']['dx'])
radius = np.sqrt(np.sum(speed**2))
if np.isclose(radius, 0):
- scaling = 0
+ # scaling = 0
speed = 0 * speed
else:
tuples = [('location', 'dx'), ('location', 'dy'),
@@ -80,10 +80,11 @@ def next_pos(motion_vec, move_mode, move_param=None):
else:
deltas['location']['dy'] = 0
- scaling = 1
+ # scaling = 1
speed = move_param['grid_spacing'] * deltas
elif move_mode is 'free_run':
- scaling = 1 # <=> dt = 1, user need to scale speed in dt units
+ pass
+ # scaling = 1 # <=> dt = 1, user need to scale speed in dt units
else:
raise ValueError('grid_mode is not supported')
toreturn = motion_vec
diff --git a/navipy/moving/test_agent.py b/navipy/moving/test_agent.py
index b951ce68a0de0483d9d46c26f2a49af52d0eb8ab..3319808148c5b7baca40fbf7fae78345c6810a05 100644
--- a/navipy/moving/test_agent.py
+++ b/navipy/moving/test_agent.py
@@ -87,7 +87,7 @@ class TestNavipyMovingAgent(unittest.TestCase):
# GridAgent
#
def test_move_gridagent(self):
- agent = naviagent.GridAgent(self.brain)
+ agent = naviagent.GridAgent(self.brain, 'rxyz')
initposorient = None
with warnings.catch_warnings(record=True):
initposorient = self.brain.posorients.loc[13, :]
@@ -107,16 +107,16 @@ class TestNavipyMovingAgent(unittest.TestCase):
pd.Series(data=1,
index=index)}}
agent.mode_of_motion = mode_move
- with warnings.catch_warnings(record=True) as w:
+ with warnings.catch_warnings(record=True):
agent.move()
obtained = agent.posorient
self.assertTrue(np.allclose(
obtained, initposorient.loc[obtained.index]))
def test_fly_gridagent(self):
- agent = naviagent.GridAgent(self.brain)
+ agent = naviagent.GridAgent(self.brain, 'rxyz')
initposorient = None
- with warnings.catch_warnings(record=True) as w:
+ with warnings.catch_warnings(record=True):
initposorient = self.brain.posorients.loc[13, :]
initposovel = pd.Series(data=0,
index=self.__posorient_vel_col)
@@ -145,7 +145,7 @@ class TestNavipyMovingAgent(unittest.TestCase):
def test_init_graphagent(self):
agent = None
- with warnings.catch_warnings(record=True) as w:
+ with warnings.catch_warnings(record=True):
agent = naviagent.GraphAgent(self.brain)
if version < 2:
graph_nodes = list(agent.graph.nodes())
@@ -157,7 +157,7 @@ class TestNavipyMovingAgent(unittest.TestCase):
def test_graph_setter(self):
agent = None
- with warnings.catch_warnings(record=True) as w:
+ with warnings.catch_warnings(record=True):
agent = naviagent.GraphAgent(self.brain)
if version < 2:
graph_nodes = list(agent.graph.nodes())
@@ -187,7 +187,7 @@ class TestNavipyMovingAgent(unittest.TestCase):
"""
# Test all node to first
agent = None
- with warnings.catch_warnings(record=True) as w:
+ with warnings.catch_warnings(record=True):
agent = naviagent.GraphAgent(self.brain)
if version < 2:
@@ -254,7 +254,7 @@ class TestNavipyMovingAgent(unittest.TestCase):
3. Local minima
"""
agent = None
- with warnings.catch_warnings(record=True) as w:
+ with warnings.catch_warnings(record=True):
agent = naviagent.GraphAgent(self.brain)
# Local maxima
if version < 2:
diff --git a/navipy/moving/test_maths.py b/navipy/moving/test_maths.py
index 44219dcfa33cbba49ea68a57ac413695704710d6..75fbc8eef6917163133f4e0045fc4fd44a689f96 100644
--- a/navipy/moving/test_maths.py
+++ b/navipy/moving/test_maths.py
@@ -116,10 +116,10 @@ class TestNavipyMovingMaths(unittest.TestCase):
expected_dict[337] = 6
expected_dict[338] = 7 # equivalent to -22
tuples2 = [('location', 'x'), ('location', 'y'),
- ('location', 'z'), ('location', 'dx'),
- ('location', 'dy'), ('location', 'dz')]
+ ('location', 'z'), ('location', 'dx'),
+ ('location', 'dy'), ('location', 'dz')]
index2 = pd.MultiIndex.from_tuples(tuples2,
- names=['position', 'orientation'])
+ names=['position', 'orientation'])
for angle, exp_i in expected_dict.items():
alpha = np.deg2rad(angle)