def test__no_acceleration_predict_II(self):
"""Starts with 0 vel, 0 accel. No accel prediction is mostly meaningless."""
solver = TrajectorySolver(40, 5, 2.5, 0, -5, -2.5)
initial = Knot(10,0,0,0)
final = Knot(50,5,-1,None)
spline = solver._no_acceleration_predict(initial, final)
self.assertEqual(spline.t[-1], float('inf'))
def test__no_acceleration_predict_III(self):
"""Has initial vel, no initial accel. Accelerates."""
solver = TrajectorySolver(40, 5, 2.5, 0, -5, -2.5)
initial = Knot(10,2,0,0)
final = Knot(50,10,0,None)
spline = solver._no_acceleration_predict(initial, final)
## self.plot_it(spline, solver, "_no_acceleration_predict_III")
self.validate_spline(spline, solver)
self.validate_endpoints(spline, initial, final, time=False)
