def test_comparator(self):
p0 = array([1, -23., 5.])
amp = array([-1, 0.6, 2.8])
T = 1.5
phi = 0.
c01 = sinusoidal(p0, amp, T, phi)
c02 = sinusoidal(p0, amp, T, phi)
self.assertEqual(c01, c02)
c1 = sinusoidal(p0, amp, T, phi, 1., 10.)
c2 = sinusoidal(p0, amp, T, phi, 1., 10.)
c3 = c1
self.assertEqual(c1, c2)
self.assertEqual(c1, c3)
self.assertTrue(c1.isEquivalent(c2))
p01 = array([1.5, -23., 5.])
amp1 = array([-1, -0.6, 2.8])
cn1 = sinusoidal(p01, amp, T, phi, 1., 10.)
cn2 = sinusoidal(p0, amp1, 1.4, phi, 1., 10.)
cn3 = sinusoidal(p0, amp, T, 0.2, 1., 10.)
cn4 = sinusoidal(p0, amp, T, phi, 0., 10.)
cn5 = sinusoidal(p0, amp, T, phi, 1., 5.)
self.assertNotEqual(c1, cn1)
self.assertNotEqual(c1, cn2)
self.assertNotEqual(c1, cn3)
self.assertNotEqual(c1, cn4)
self.assertNotEqual(c1, cn5)
self.assertTrue(c1.isEquivalent(c2))
def test_serialization(self):
p0 = array([1, -23., 5.])
amp = array([-1, 0.6, 2.8])
T = 1.5
phi = 0.2
c = sinusoidal(p0, amp, T, phi, 2., 5.)
c.saveAsText("serialization_sinusoidal.txt")
c.saveAsXML("serialization_sinusoidal.xml", "sinusoidal")
c.saveAsBinary("serialization_sinusoidal")
c_txt = sinusoidal()
c_txt.loadFromText("serialization_sinusoidal.txt")
self.assertEqual(c, c_txt)
c_xml = sinusoidal()
c_xml.loadFromXML("serialization_sinusoidal.xml", "sinusoidal")
self.assertEqual(c, c_xml)
c_bin = sinusoidal()
c_bin.loadFromBinary("serialization_sinusoidal")
self.assertEqual(c, c_bin)
def test_derivate(self):
p0 = array([1, -23., 5.])
amp = array([-1, 0.6, 2.8])
T = 1.5
phi = 0.
c = sinusoidal(p0, amp, T, phi, 0., 20.)
self.assertTrue(
isclose(c.derivate(0., 1), (amp * 2. * np.pi / T)).all())
self.assertTrue(
isclose(c.derivate(T, 1), (amp * 2. * np.pi / T)).all())
self.assertTrue(
isclose(c.derivate(T / 2., 1), (-amp * 2. * np.pi / T)).all())
self.assertTrue(isclose(c.derivate(T / 4., 1), np.zeros(3)).all())
self.assertTrue(isclose(c.derivate(3. * T / 4., 1), np.zeros(3)).all())
self.assertTrue(
isclose(c.derivate(T / 4., 2),
(-(amp * 2. * np.pi / T) * (2. * np.pi / T))).all())
self.assertTrue(
isclose(c.derivate(3. * T / 4., 2),
((amp * 2. * np.pi / T) * (2. * np.pi / T))).all())
self.assertTrue(isclose(c.derivate(0, 2), np.zeros(3)).all())
self.assertTrue(isclose(c.derivate(T, 2), np.zeros(3)).all())
self.assertTrue(isclose(c.derivate(2. * T, 2), np.zeros(3)).all())
with self.assertRaises(ValueError):
c.derivate(-0.5, 1)
with self.assertRaises(ValueError):
c.derivate(54., 3)
with self.assertRaises(OverflowError):
c.derivate(1., -1)
with self.assertRaises(ValueError):
c.derivate(1., 0)
for i in range(1, 10):
c_deriv = c.compute_derivate(i)
self.assertEqual(c_deriv.min(), c.min())
self.assertEqual(c_deriv.max(), c.max())
self.assertEqual(c_deriv.dim(), c.dim())
self.assertTrue(isclose(c_deriv(0.), c.derivate(0., i)).all())
self.assertTrue(isclose(c_deriv(0.2), c.derivate(0.2, i)).all())
self.assertTrue(isclose(c_deriv(0.6), c.derivate(0.6, i)).all())
self.assertTrue(isclose(c_deriv(0.9), c.derivate(0.9, i)).all())
self.assertTrue(isclose(c_deriv(T), c.derivate(T, i)).all())
self.assertTrue(
isclose(c_deriv(T * 2.), c.derivate(T * 2., i)).all())
def test_constructor(self):
# default constructor
c = sinusoidal()
self.assertEqual(c.min(), 0.)
self.assertEqual(c.max(), 0)
self.assertEqual(c.dim(), 0)
self.assertEqual(c.degree(), 1)
# constructor without time
p0 = array([1, -23., 5.])
amp = array([-1, 0.6, 2.8])
T = 1.5
phi = 0.2
c = sinusoidal(p0, amp, T, phi)
self.assertEqual(c.min(), 0.)
self.assertTrue(
c.max() >
1e100) # convert std::numeric_limits<time_t>::max() to python ?
self.assertEqual(c.dim(), 3)
self.assertEqual(c.degree(), 1)
# constructor with timing
c = sinusoidal(p0, amp, T, phi, 1., 5.)
self.assertEqual(c.min(), 1.)
self.assertEqual(c.max(), 5.)
self.assertEqual(c.dim(), 3)
self.assertEqual(c.degree(), 1)
# constructor from stationary points
p_init = array([1.2, -5, 3.6, 5.])
p_end = array([-1.2, -3, 2.7, -3.2])
c = sinusoidal(1.5, p_init, p_end)
self.assertEqual(c.min(), 0.)
self.assertTrue(
c.max() >
1e100) # convert std::numeric_limits<time_t>::max() to python ?
self.assertEqual(c.dim(), 4)
self.assertEqual(c.degree(), 1)
# constructor from stationary points with timing
p_init = array([1.2, -5, 3.6, 5.])
p_end = array([-1.2, -3, 2.7, -3.2])
c = sinusoidal(1.5, p_init, p_end, 1.5, 25)
self.assertEqual(c.min(), 1.5)
self.assertEqual(
c.max(),
25.) # convert std::numeric_limits<time_t>::max() to python ?
self.assertEqual(c.dim(), 4)
self.assertEqual(c.degree(), 1)
with self.assertRaises(ValueError):
c = sinusoidal(p0, amp, T, phi, 2., 1.)
def test_evaluate(self):
p0 = array([1, -23., 5.])
amp = array([-1, 0.6, 2.8])
T = 1.5
phi = 0.
c = sinusoidal(p0, amp, T, phi, 0., 20.)
self.assertTrue(isclose(c(0), p0).all())
self.assertTrue(isclose(c(T), p0).all())
self.assertTrue(isclose(c(T / 2.), p0).all())
self.assertTrue(isclose(c(9. * T), p0).all())
self.assertTrue(isclose(c(T / 4.), p0 + amp).all())
self.assertTrue(isclose(c(3. * T / 4.), p0 - amp).all())
with self.assertRaises(ValueError):
c(-0.5)
with self.assertRaises(ValueError):
c(24.)
