def test_tg1plot(self):
s1 = 1
s2 = 2
tg = tr.tpoly(s1, s2, 11)
tg.plot(block=False)
tg = tr.lspb(s1, s2, 11)
tg.plot(block=False)
tg = tr.tpoly(s1, s2, [1, 2])
tg.plot(block=False)
def test_tg1plot(self):
s1 = 1
s2 = 2
tg = tr.tpoly(s1, s2, 11)
tr.t1plot(tg, block=False)
tg = tr.lspb(s1, s2, 11)
tr.t1plot(tg, block=False)
tg = tr.tpoly(s1, s2, [1, 2])
tr.t1plot(tg, block=False)
with self.assertRaises(TypeError):
tr.t1plot('abcdefg', block=False)
def test_tpoly(self):
s1 = 1
s2 = 2
# no boundary conditions
tg = tr.tpoly(s1, s2, 11)
s = tg.y
sd = tg.yd
sdd = tg.ydd
self.assertTrue(np.all(np.diff(s) > 0)) # output is monotonic
self.assertAlmostEqual(s[0], s1)
self.assertAlmostEqual(s[-1], s2)
self.assertAlmostEqual(s[5], 1.5)
self.assertTrue(np.all(sd >= -10 * _eps)) # velocity is >= 0
self.assertAlmostEqual(sd[0], 0)
self.assertAlmostEqual(sd[-1], 0)
self.assertAlmostEqual(sdd[0], 0)
self.assertAlmostEqual(sdd[5], 0)
self.assertAlmostEqual(sdd[-1], 0)
self.assertAlmostEqual(sum(sdd), 0)
# time vector version
t = np.linspace(0, 1, 11)
tg = tr.tpoly(s1, s2, t)
s = tg.y
sd = tg.yd
sdd = tg.ydd
self.assertTrue(np.all(np.diff(s) > 0)) # output is monotonic
self.assertAlmostEqual(s[0], s1)
self.assertAlmostEqual(s[-1], s2)
self.assertAlmostEqual(s[5], 1.5)
# velocity is >= 0, some numeric issues hence the possible small
# negative allowance
self.assertTrue(np.all(sd >= -1000 * _eps))
self.assertAlmostEqual(sd[0], 0)
self.assertAlmostEqual(sd[-1], 0)
self.assertAlmostEqual(sdd[0], 0)
self.assertAlmostEqual(sdd[5], 0)
self.assertAlmostEqual(sdd[-1], 0)
self.assertAlmostEqual(sum(sdd), 0)
# boundary conditions
tg = tr.tpoly(s1, s2, 11, -1, 1)
s = tg.y
sd = tg.yd
sdd = tg.ydd
self.assertAlmostEqual(s[0], s1)
self.assertAlmostEqual(s[-1], s2)
self.assertAlmostEqual(sd[0], -1)
self.assertAlmostEqual(sd[-1], 1)
self.assertAlmostEqual(sdd[0], 0)
self.assertAlmostEqual(sdd[-1], 0)
with self.assertRaises(TypeError):
tr.tpoly(s1, s2, 'not time')
def test_tpoly_plot(self):
t = tr.tpoly(0, 1, 50)
t.plot()
t = tr.tpoly(0, 1, np.linspace(0, 1, 50))
t.plot()