def test_append_III(self):
"""Check that append works properly when starting with an empty spline."""
spline = CubicSpline([], [], [], [], [])
spline.coeffs # Trigger the lazy evaluation of coeffs
knot = Knot(11 / 3, 2, 1, 4)
spline.append(knot, None)
self.assertEqual(spline.q, [knot.pos])
self.assertEqual(spline.v, [knot.vel])
self.assertEqual(spline.a, [knot.accel])
self.assertEqual(spline.j, [])
self.assertEqual(spline.t, [knot.time])
self.assertEqual(spline.h, [])
self.polys_coeffs_check(spline)
def test_append_II(self):
"""Similar to test_append, but the evaluation of coeffs is forced prior
to appending the new knot."""
spline = CubicSpline([0, 1 / 6, 1], [0, 1 / 2, 1], [0, 1, 0], [1, -1],
[0, 1, 2])
knot = Knot(11 / 3, 2, 1, 4) # calculated with jerk = 1/2
spline.coeffs # Trigger the lazy evaluation of coeffs
spline.append(knot, 1 / 2)
self.assertEqual(spline.q, [0, 1 / 6, 1, 11 / 3])
self.assertEqual(spline.v, [0, 1 / 2, 1, 2])
self.assertEqual(spline.a, [0, 1, 0, 1])
self.assertEqual(spline.j, [1, -1, 1 / 2])
self.assertEqual(spline.t, [0, 1, 2, 4])
self.assertEqual(spline.h, [1, 1, 2])
self.polys_coeffs_check(spline)
def test_append(self):
spline = CubicSpline([0, 1 / 6, 1], [0, 1 / 2, 1], [0, 1, 0], [1, -1],
[0, 1, 2])
knot = Knot(11 / 3, 2, 1, 4) # calculated with jerk = 1/2
spline.append(knot, 1 / 2)
self.assertEqual(spline.q, [0, 1 / 6, 1, 11 / 3])
self.assertEqual(spline.v, [0, 1 / 2, 1, 2])
self.assertEqual(spline.a, [0, 1, 0, 1])
self.assertEqual(spline.j, [1, -1, 1 / 2])
self.assertEqual(spline.t, [0, 1, 2, 4])
self.assertEqual(spline.h, [1, 1, 2])
self.polys_coeffs_check(spline)
bad_knot = Knot(0, 0, 0, 1) # The time is too early
self.assertRaises(SplineError, spline.append, bad_knot, None)