gasur

A python package for Guidance, navigation, and control (GNC) of Autonomous Swarms Using Random finite sets (RFS) developed by the Laboratory for Autonomy GNC and Estimation Research (LAGER) at the University of Alabama (UA).

Setup

This package requires python 3 and tox for running tests and building documentation. Once python 3 is installed tox can be installed by running pip3 install tox

Using git with submodules

To clone a repo with sub modules use git clone --recursive [URL to Git repo]

To pull new changes for all submodules and new changes in the base repo use git pull --recurse-submodules

To just pull changes from all submodules use git submodule update --remote

You can cd into individual submodules and use git commands as if you were inside that repo. More information can be found here .

Importing into Spyder

The Spyder/Anaconda can be setup to install the local versions of the package so standalone scripts can be written as if the package were installed in the typical fashion (via pip install). Details on this process are included in the documentation.

Testing

Unit and validation tests make use pytest for the test runner, and tox for automation. The test scripts are located within the test/ sub-directory. The tests can be run through a command line with python 3 and tox installed. There are 3 different environments for running tests. One for unit tests, another for validation tests, and a general purpose one that accepts any arguments to pytest. The general purpose environment is executed by running

tox -e test -- PY_TEST_ARGS

where PY_TEST_ARGS are any arguments to be passed directly to the pytest command (Note: if none are passed the -- is not needed). For example to run any test cases containing a keyword, run the following,

tox -e test -- -k guidance

To run tests marked as slow, pass the --runslow option.

The unit test envrionment runs all tests within the test/unit/ sub-directory. These tests are designed to confirm basic functionality. Many of them do not ensure algorithm performance but may do some basic checking of a few key parameters. This environment is run by

tox - e unit_test

The validation test envrionment runs all tests within the test/validation/ sub-directory. These are designed to verify algorithm performance and include more extensive checking of the output arguments against known values. They often run slower than unit tests. These can be run with

tox - e validation_test

Building documentation

The documentation uses sphinx and autodoc to pull docstrings from the code. This process is run through a command line that has python 3 and tox installed. The built documentation is in the docs/build/ sub-directory. The HTML version of the docs can be built using the following command: tox -e docs -- html

Then they can be viewed by opening docs/build/html/index.html

Cite

Please cite the framework as follows

@Misc{gasur,
  author       = {Jordan D. Larson and Ryan W. Thomas and Vaughn Weirens and Vincent W. Hill},
  howpublished = {Web page},
  title        = {{GASUR}: A {P}ython library for {G}uidance, navigation, and control of {A}utonomous {S}warms {U}sing {R}andom finite sets},
  year         = {2019},
  url          = {https://github.com/drjdlarson/gasur},
}

StevenLOL / gasur