def test_subtract(self):
a = Time(5, 5 * 10e8)
b = a - Time(4, 6 * 10e8)
self.assertEqual(b.sec, 0)
self.assertEqual(b.nsec, 9 * 10e8)
b = a - 1.1
self.assertEqual(b.sec, 4)
self.assertEqual(b.nsec, 4 * 10e8)
b = 9.9 - a
self.assertEqual(b.sec, 4)
self.assertEqual(b.nsec, 4 * 10e8)
a -= a
self.assertEqual(a.sec, 0)
self.assertEqual(a.nsec, 0)
a -= Time(2, 10e8)
self.assertEqual(a.sec, -3)
self.assertEqual(a.nsec, 9 * 10e8)
a += 1.1
self.assertEqual(a.sec, -1)
self.assertEqual(a.nsec, 0)
def test_cmp(self):
a = Time(dbl=1.0)
b = Time(dbl=2.0)
c = Time(dbl=1.0)
self.assertTrue(a < b)
self.assertFalse(a > b)
self.assertTrue(b > a)
self.assertFalse(b < a)
self.assertTrue(b >= a)
self.assertFalse(b <= a)
self.assertTrue(a <= b)
self.assertFalse(a >= b)
self.assertTrue(a <= c)
self.assertTrue(a >= c)
self.assertTrue(c >= a)
self.assertTrue(a >= c)
def age(self):
"""
Returns this robot's age as a Time object.
Depends on the last and first update times.
:return:
:rtype: Time
"""
return Time() \
if self.last_update is None \
else self.last_update - self.starting_time
def displacement(self):
"""
Returns a tuple of the displacement in both time and space
between the first and last registered element in the speed
window.
:return: Tuple where the first item is a displacement vector
and the second a `Time` instance.
:rtype: tuple(Vector3, Time)
"""
if self.last_position is None:
return Vector3(0, 0, 0), Time()
return (self._positions[-1] - self._positions[0],
self._times[-1] - self._times[0])
def displacement(robot_manager):
"""
Returns a tuple of the displacement in both time and space
between the first and last registered element in the speed
window.
:return: Tuple where the first item is a displacement vector
and the second a `Time` instance.
:rtype: tuple(Vector3, Time)
"""
if len(robot_manager._positions) == 0:
return Vector3(0, 0, 0), Time()
return (
robot_manager._positions[-1] - robot_manager._positions[0],
robot_manager._times[-1] - robot_manager._times[0]
)
def test_add(self):
a = Time(5, 5 * 10e8)
b = a + a
self.assertEqual(b.sec, 11)
self.assertEqual(b.nsec, 0)
b = a + 1.1
self.assertEqual(b.sec, 6)
self.assertEqual(b.nsec, 6 * 10e8)
b = 1.1 + a
self.assertEqual(b.sec, 6)
self.assertEqual(b.nsec, 6 * 10e8)
a += a
self.assertEqual(a.sec, 11)
self.assertEqual(a.nsec, 0)
a += 1.1
self.assertEqual(a.sec, 12)
self.assertEqual(a.nsec, 10e8)
def test_eq(self):
a = Time(5, 5 * 10e8)
self.assertEqual(a, 5.5)
self.assertEqual(a, Time(5, 5 * 10e8))
self.assertNotEqual(a, Time(5, 6 * 10e8))
def test_float(self):
a = Time(1, 5 * 10e8)
self.assertAlmostEqual(1.5, float(a))
def test_create(self):
a = Time(0, -10)
self.assertEqual(a.sec, -1)
self.assertEqual(a.nsec, 10e9 - 10)