Added SE2StateSpaceSubdivisionGaussianDistribution

Author: FlorianPfaff

pyrecest/distributions/cart_prod/se2_state_space_subdivision_gaussian_distribution.py

@@ -0,0 +1,5 @@
+from pyrecest.distributions.cart_prod.hypercylindrical_state_space_subdivision_gaussian_distribution import HypercylindricalStateSpaceSubdivisionGaussianDistribution
+from pyrecest.distributions.abstract_se2_distribution import AbstractSE2Distribution
+
+class SE2StateSpaceSubdivisionGaussianDistribution(HypercylindricalStateSpaceSubdivisionGaussianDistribution, AbstractSE2Distribution):
+    pass

pyrecest/tests/distributions/test_se2_state_space_subdivision_gaussian_distribution.py

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+import unittest
+import numpy as np
+from pyrecest.distributions.se2_state_space_subdivision_gaussian_distribution import SE2StateSpaceSubdivisionGaussianDistribution
+from pyrecest.distributions import VonMisesDistribution, GaussianDistribution
+from pyrecest.distributions.circle.circular_grid_distribution import CircularGridDistribution
+
+class TestSE2StateSpaceSubdivisionGaussianDistribution(unittest.TestCase):
+
+    def test_constructor(self):
+        n = 100
+        vm = VonMisesDistribution(0, 1)
+        fig = CircularGridDistribution.from_distribution(vm, n)
+        gaussians = np.array([GaussianDistribution(np.array([0, 0]), np.eye(2)) for _ in range(n)])
+        SE2StateSpaceSubdivisionGaussianDistribution(fig, gaussians)
+
+    def test_plotting(self):
+        n = 100
+        vm = VonMisesDistribution(0, 1)
+        fig = CircularGridDistribution.from_distribution(vm, n)
+        gaussians = np.array([GaussianDistribution(np.array([0, 0]), np.eye(2)) for _ in range(n)])
+        apd = SE2StateSpaceSubdivisionGaussianDistribution(fig, gaussians)
+        apd.plot_state()  # No assertion is needed, as we only check if the plotting function runs without errors
+
+
+if __name__ == "__main__":
+    unittest.main()