def test_centripetal_acceleration_straight_line(self):
trajectory = spline.SplineTrajectorySegment([0, 0, 0], [1, 0, 0], [1, 0, 0], [1, 0, 0])
point = spline.SplineTrajectoryPoint(trajectory, 0)
npt.assert_almost_equal([0, 0, 0], point.centripetal_acceleration)
def test_centripetal_acceleration_curve(self):
trajectory = spline.SplineTrajectorySegment([0, 0, 0], [1, 1, 0], [1, 0, 0], [0, 1, 0])
point = spline.SplineTrajectoryPoint(trajectory, 0)
self.assertAlmostEqual(0, point.centripetal_acceleration[0])
self.assertLess(0, point.centripetal_acceleration[1])
self.assertAlmostEqual(0, point.centripetal_acceleration[2])
def test_parametrization_at_distance(self):
trajectory = spline.SplineTrajectorySegment([0, 1, 2], [-1, -2, -3], [1, 1, 1], [1, 1, 1])
r = trajectory.parametrization_at_distance(trajectory.spline_length / 3)
length = trajectory.section_length(0, r)
self.assertAlmostEqual(trajectory.spline_length / 3, length)
def test_section_length(self):
trajectory = spline.SplineTrajectorySegment([0, 1, 2], [-1, -2, -3], [1, 1, 1], [1, 1, 1])
sa = trajectory.section_length(0, 0.5)
sb = trajectory.section_length(0.5, 1)
sab = trajectory.section_length(0, 1)
self.assertAlmostEqual(sa + sb, sab)
def test_start_and_end_derivatives_3D(self):
d1 = [1, 1, 1]
d2 = [1, 2, 3]
trajectory = spline.SplineTrajectorySegment([0, 1, 2], [-1, -2, -3], d1, d2)
npt.assert_almost_equal(normalize(d1), normalize(trajectory.spline_dot(0)))
npt.assert_almost_equal(normalize(d2), normalize(trajectory.spline_dot(1)))
def test_start_and_end_postions_3D(self):
trajectory = spline.SplineTrajectorySegment([0, 1, 2], [-1, -2, -3], [1, 1, 1], [1, 1, 1])
npt.assert_almost_equal([0, 1, 2], trajectory.spline(0))
npt.assert_almost_equal([-1, -2, -3], trajectory.spline(1))
def test_start_and_end_postions_1D(self):
trajectory = spline.SplineTrajectorySegment([0], [1], [1], [1])
npt.assert_almost_equal([0], trajectory.spline(0))
npt.assert_almost_equal([1], trajectory.spline(1))