def test_validate_two_milestones(self):
v = GlobalSpeedValidator(max_trial_duration=6, origin_coord=0, end_coord=100,
milestones=[(.5, .25), (.5, .75)])
v.reset()
self.assertIsNone(v.check_xyt(0, 25, 3))
self.assertIsNone(v.check_xyt(0, 75, 5))
self.assertIsNone(v.check_xyt(0, 100, 6))
v.reset()
self.assertIsNotNone(v.check_xyt(0, 24, 3))
self.assertIsNotNone(v.check_xyt(0, 74, 5))
self.assertIsNotNone(v.check_xyt(0, 99, 6))
self.assertTrue(np.abs(25/3 - v.get_expected_coord_at_time(1)) < .00001)
self.assertEqual(50, v.get_expected_coord_at_time(4))
def test_validate_move_backwards(self):
v = GlobalSpeedValidator(max_trial_duration=1, origin_coord=100, end_coord=0)
self.assertEqual(100, v.get_expected_coord_at_time(0))
self.assertEqual(90, v.get_expected_coord_at_time(.1))
self.assertEqual(20, v.get_expected_coord_at_time(.8))
self.assertEqual(0, v.get_expected_coord_at_time(1))
self.assertEqual(0, v.get_expected_coord_at_time(9))
v.reset()
self.assertIsNone(v.check_xyt(0, 50, .5))
self.assertIsNone(v.check_xyt(0, 0, 1))
v.reset()
self.assertIsNotNone(v.check_xyt(0, 51, .5))
v.reset()
self.assertIsNotNone(v.check_xyt(0, 1, 1))
def test_validate_one_milestone(self):
v = GlobalSpeedValidator(max_trial_duration=1, origin_coord=0, end_coord=100)
self.assertEqual(0, v.get_expected_coord_at_time(0))
self.assertEqual(10, v.get_expected_coord_at_time(.1))
self.assertEqual(80, v.get_expected_coord_at_time(.8))
self.assertEqual(100, v.get_expected_coord_at_time(1))
self.assertEqual(100, v.get_expected_coord_at_time(9))
v.reset()
self.assertIsNone(v.check_xyt(0, 50, .5))
self.assertIsNone(v.check_xyt(0, 100, 1))
v.reset()
self.assertIsNotNone(v.check_xyt(0, 49, .5))
v.reset()
self.assertIsNotNone(v.check_xyt(0, 99, 1))