added concat tests, updated concat tutorial

Author: betaBison

notebooks/tutorials/navdata.ipynb

@@ -313,8 +313,7 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "To add new columns, use the `NavData.add()` method with the `csv_path`, \n",
-    "`pandas_df` and `numpy_array` flags depending on the input type."
+    "To add new columns, use the `NavData.concat()` method which concatenates two `NavData` instances."
    ]
   },
   {
@@ -341,7 +340,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "nav_data_np.add(numpy_array=np_array)\n",
+    "nav_data_np.concat(NavData(numpy_array=np_array),inplace=True)\n",
     "nav_data_np[:]"
    ]
   },

tests/parsers/test_android.py

@@ -291,6 +291,37 @@ def test_get_and_set_str(derived):
 
     np.testing.assert_equal(derived[key, :], value)
 
+def test_android_concat(derived, pd_df):
+    """Test concat on Android data.
+
+    Parameters
+    ----------
+    derived : AndroidDerived2021
+        Instance of AndroidDerived2021 for testing
+    pd_df : pytest.fixture
+        pd.DataFrame for testing measurements
+    """
+
+    # remove first timestamp to match
+    pd_df = pd_df[pd_df['millisSinceGpsEpoch'] != pd_df.loc[0,'millisSinceGpsEpoch']]
+
+    # extract and combine gps and glonass data
+    gps_data = derived.where("gnss_id","gps")
+    glonass_data = derived.where("gnss_id","glonass")
+    combined_navdata = gps_data.concat(glonass_data)
+
+    # combine using pandas
+    gps_df = pd_df[pd_df["constellationType"]==1]
+    glonass_df = pd_df[pd_df["constellationType"]==3]
+    combined_df = pd.concat((gps_df,glonass_df))
+
+    # check a few rows to make sure they're equal
+    np.testing.assert_array_equal(combined_navdata["raw_pr_m"],
+                                  combined_df["rawPrM"])
+    np.testing.assert_array_equal(combined_navdata["raw_pr_sigma_m"],
+                                  combined_df["rawPrUncM"])
+    np.testing.assert_array_equal(combined_navdata["intersignal_bias_m"],
+                                  combined_df["isrbM"])
 
 def test_imu_raw(android_raw_path):
     """Test that AndroidRawImu initialization

tests/parsers/test_navdata.py

@@ -1323,9 +1323,27 @@ def test_concat(df_simple):
     # add new columns
     navdata = navdata_1.concat(navdata_1)
     assert navdata.shape == (4,12)
+    pandas_equiv = pd.concat((df_simple,df_simple),axis=0)
+    pandas_equiv.reset_index(drop=True, inplace=True)
+    pd.testing.assert_frame_equal(pandas_equiv.sort_index(axis=1),
+                                  navdata.pandas_df().sort_index(axis=1),
+                                  check_index_type=False,
+                                  check_dtype=False)
+
     # add new rows
     navdata = navdata_1.concat(navdata_1,axis=0)
     assert navdata.shape == (8,6)
+    mapper = {"names":"names_0",
+              "floats":"floats_0",
+              "integers":"integers_0",
+              "strings":"strings_0"}
+    df_simple_2 = df_simple.rename(mapper,axis=1)
+    pandas_equiv = pd.concat((df_simple,df_simple_2),axis=1)
+    pandas_equiv.reset_index(drop=True, inplace=True)
+    pd.testing.assert_frame_equal(pandas_equiv.sort_index(axis=1),
+                                  navdata.pandas_df().sort_index(axis=1),
+                                  check_index_type=False,
+                                  check_dtype=False)
 
     # test multiple rows with the same name
     navdata_long = navdata_1.copy()
@@ -1337,10 +1355,33 @@ def test_concat(df_simple):
     # add semi new columns
     navdata = navdata_1.concat(navdata_2)
     assert navdata.shape == (6,12)
+    assert np.all(np.isnan(navdata["floats"][-6:]))
+    assert np.all(navdata["names"][-6:] == np.array([np.nan]).astype(str)[0])
+    assert np.all(np.isnan(navdata["decimals"][:6]))
+    assert np.all(navdata["words"][:6] == np.array([np.nan]).astype(str)[0])
+
+    # add semi new columns in opposite order
+    navdata = navdata_2.concat(navdata_1)
+    assert navdata.shape == (6,12)
+    assert np.all(np.isnan(navdata["floats"][:6]))
+    assert np.all(navdata["names"][:6] == np.array([np.nan]).astype(str)[0])
+    assert np.all(np.isnan(navdata["decimals"][-6:]))
+    assert np.all(navdata["words"][-6:] == np.array([np.nan]).astype(str)[0])
 
     # add as new rows
-    navdata_b = navdata_1.concat(navdata_2,axis=0)
-    assert navdata_b.shape == (8,6)
+    navdata = navdata_1.concat(navdata_2,axis=0)
+    assert navdata.shape == (8,6)
+    mapper = {"names":"words",
+              "floats":"decimals",
+              "integers":"integers_0",
+              "strings":"strings_0"}
+    df_simple_2 = df_simple.rename(mapper,axis=1)
+    pandas_equiv = pd.concat((df_simple,df_simple_2),axis=1)
+    pandas_equiv.reset_index(drop=True, inplace=True)
+    pd.testing.assert_frame_equal(pandas_equiv.sort_index(axis=1),
+                                  navdata.pandas_df().sort_index(axis=1),
+                                  check_index_type=False,
+                                  check_dtype=False)
 
 def test_concat_fails(df_simple):
     """Test when concat should fail.