125 lines
5.5 KiB
Python
125 lines
5.5 KiB
Python
"""第四问 (位置 × 朝向) 联合信念验收（论文“问题四”一节 §3.1）。
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要点：
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- 真源 (位置, 朝向) 在与真值一致的观测序列后**永不**被删（保守性二维推广）；
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- 期望后验 MEC 半径是合法的选点值函数：远处被朝向遮挡的 no_signal 不删
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**空间**候选，因此不应被误当成"已经收缩"；
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- numpy 向量路径与纯 Python 回退路径在同一输入下结果一致。
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"""
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import math
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import unittest
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from dataclasses import replace
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from random import Random
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from mcm26b.belief.joint import JointBelief, _np
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from mcm26b.config import ProblemConfig
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from mcm26b.protocol.rules import DIRECTION, NEAR, NO_SIGNAL
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CONFIG = replace(ProblemConfig(),
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search=replace(ProblemConfig().search,
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bearing_rounding_margin_deg=0.005))
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HALF_ANGLE = CONFIG.field.directional_half_angle_deg
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def _visible(source, heading, reader, limit_m):
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if math.dist(reader, source) > limit_m:
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return False
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bearing = math.degrees(math.atan2(reader[1] - source[1],
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reader[0] - source[0]))
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return abs((bearing - heading + 180.0) % 360.0 - 180.0) <= HALF_ANGLE - 5.0
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class JointBeliefRetentionTests(unittest.TestCase):
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def test_true_source_survives_consistent_observations(self):
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"""与真值一致的观测序列后，真源所在格仍必须存在。"""
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rng = Random(11)
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checked = 0
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while checked < 10:
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source = (rng.uniform(-1700, 1700), rng.uniform(-1700, 1700))
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if math.hypot(*source) > 1700:
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continue
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heading = rng.uniform(0.0, 360.0)
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detection = (rng.uniform(-2100, 2100), rng.uniform(-2100, 2100))
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if not _visible(source, heading, detection,
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CONFIG.field.r_eff_min_m):
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continue
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checked += 1
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joint = JointBelief(CONFIG)
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bearing = math.degrees(math.atan2(source[1] - detection[1],
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source[0] - detection[0])) % 360.0
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joint.apply(detection, DIRECTION,
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round(bearing + rng.uniform(-0.9, 0.9), 2) % 360.0)
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for _ in range(5):
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probe = (rng.uniform(-1800, 1800), rng.uniform(-1800, 1800))
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if _visible(source, heading, probe, CONFIG.field.r_eff_min_m):
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pb = math.degrees(math.atan2(source[1] - probe[1],
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source[0] - probe[0])) % 360.0
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joint.apply(probe, DIRECTION,
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round(pb + rng.uniform(-0.9, 0.9), 2) % 360.0)
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else:
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joint.apply(probe, NO_SIGNAL)
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self.assertFalse(joint.is_absent(), "真源可行集被观测清空")
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assert_source = (round(source[0], 6), round(source[1], 6))
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nearest = min((math.dist(joint.position.cell_center(index), assert_source)
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for index in joint.position.alive),
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default=float("inf"))
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self.assertLessEqual(nearest, joint.position.margin_m + 1e-6,
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"真源所在格被联合信念删除")
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def test_repeated_directions_shrink_but_never_grow(self):
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"""方向读数只会收缩联合集；贴测点的格按保守设计保留。"""
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joint = JointBelief(CONFIG)
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joint.apply((0.0, 0.0), DIRECTION, 0.0)
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first = len(joint)
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joint.apply((0.0, 0.0), DIRECTION, 180.0)
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self.assertLessEqual(len(joint), first)
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self.assertGreater(len(joint), 0)
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def test_near_keeps_only_a_small_disk(self):
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joint = JointBelief(CONFIG)
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joint.apply((100.0, 100.0), NEAR)
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center, radius = joint.position.mec()
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# 观测更新内缩 Voronoi 裕量，故上界为 near + margin
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self.assertLessEqual(radius, CONFIG.field.near_radius_m
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+ joint.position.margin_m + 1.0)
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self.assertLess(math.dist(center, (100.0, 100.0)), 15.0)
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class ExpectedPosteriorRadiusTests(unittest.TestCase):
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def _joint(self):
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joint = JointBelief(CONFIG)
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joint.apply((0.0, 0.0), DIRECTION, 0.0)
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return joint
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def test_value_is_finite_and_positive(self):
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joint = self._joint()
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for probe in ((800.0, 0.0), (0.0, 800.0), (-500.0, -500.0)):
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value = joint.expected_posterior_radius(probe)
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self.assertTrue(math.isfinite(value))
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self.assertGreater(value, 0.0)
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def test_blocked_reading_keeps_spatial_radius(self):
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"""no_signal 不删空间候选：期望半径不应被误当作已收缩。"""
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joint = self._joint()
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before = joint.position.mec()[1]
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joint.apply((1500.0, 0.0), NO_SIGNAL)
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self.assertAlmostEqual(joint.position.mec()[1], before, places=6)
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self.assertGreater(joint.expected_posterior_radius((1500.0, 0.0)),
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0.5 * before)
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def test_vector_and_python_paths_agree(self):
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if _np is None:
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self.skipTest("环境无 numpy：纯 Python 路径即默认实现")
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joint = self._joint()
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for probe in ((600.0, 100.0), (-300.0, 700.0)):
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indices = joint.sample(200)
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representatives = indices[::max(len(indices) // 7, 1)]
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vector = joint._epr_vector(probe, indices, representatives)
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python = joint._epr_python(probe, indices, representatives)
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self.assertAlmostEqual(vector, python, places=6)
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if __name__ == "__main__":
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unittest.main()
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