message: added goal reached test
diff: @@ -90,6 +90,42 @@ class EvaluationTests(unittest.TestCase):
  world.add_evaluator("success", evaluator)
  + info = world.evaluate()
  + self.assertEqual(info["success"], True)
  +
  + def test_one_agent_at_goal_state_limits(self):
  + param_server = ParameterServer()
  + # Model Definition
  + behavior_model = BehaviorConstantVelocity(param_server)
  + execution_model = ExecutionModelInterpolate(param_server)
  + dynamic_model = SingleTrackModel(param_server)
  +
  + # Agent Definition
  + agent_2d_shape = CarLimousine()
  + init_state = np.array([0, -191.789,-50.1725, 3.14*3.0/4.0, 150/3.6])
  + agent_params = param_server.addChild("agent1")
  + goal_polygon = Polygon2d([0, 0, 0],
  + [Point2d(-1,-1),
  + Point2d(-1,1),
  + Point2d(1,1),
  + Point2d(1,-1)])
  + goal_polygon = goal_polygon.translate(Point2d(-191.789,-50.1725))
  +
  + agent = Agent(init_state,
  + behavior_model,
  + dynamic_model,
  + execution_model,
  + agent_2d_shape,
  + agent_params,
  + GoalDefinitionStateLimits(goal_polygon, (3.14*3.0/4.0-0.08, 3.14*3.0/4.0+0.08)),
  + None)
  +
  + world = World(param_server)
  + world.add_agent(agent)
  + evaluator = EvaluatorGoalReached(agent.id)
  + world.add_evaluator("success", evaluator)
  +
  +
  info = world.evaluate()
  self.assertEqual(info["success"], True)
  