def test_target_position_VI(self):
"""Yet another real-world problem case."""
solver = TrajectorySolver(32, 1., 2.5, -5.0, -5.0, -2.5)
try:
spline = solver.target_position(Knot(0.0, 10.160758018493652, -5.0, 28.024999999999999),
Knot(67.214868918397073, 0, 0, None))
## self.plot_it(spline, solver, "test_target_position_VI")
## self.validate_spline(spline, solver)
self.assertAlmostEqual(spline.q[-1], 67.214868918397073, 5)
self.assertAlmostEqual(spline.v[-1], 0, 5)
self.assertAlmostEqual(spline.a[-1], 0, 5)
self.assertTrue(spline.t[-1] - spline.t[0] < 60)
except OptimizationError, err:
import random
while True:
try:
new_durations = [random.random() for h in err.durations]
print "initial hs:", new_durations
solver.target_position_none(Knot(0.0, 10.160758018493652, -5.0, 28.024999999999999),
Knot(67.214868918397073, 0, 0, None),
new_durations)
except OptimizationError as err:
print "Soln hs:", solver._soln_spline.h
self.plot_it(solver._soln_spline, solver, "test_remix...")
else:
print "Soln hs:", solver._soln_spline.h
self.plot_it(solver._soln_spline, solver, "test_remix...")
break
def test_target_position_none_III(self):
"""Travelling in reverse."""
solver = TrajectorySolver(30, 5, 2.5, -30, -5, -2.5)
spline = solver.target_position_none(Knot(0,0,0,0), Knot(-10,0,0,0))
## self.plot_it(spline, solver, "test_target_position_none_III")
self.validate_spline(spline, solver)
self.assertAlmostEqual(spline.q[-1], -10, 5)
self.assertAlmostEqual(spline.v[-1], 0, 5)
self.assertAlmostEqual(spline.a[-1], 0, 5)
self.assertTrue(spline.t[-1] < 6)
def test_target_position_none_I(self):
"""Zero endpoints"""
solver = TrajectorySolver(30, 5, 2.5)
spline = solver.target_position_none(Knot(0,0,0,0), Knot(10,0,0,0))
# self.plot_it(spline, solver)
self.validate_spline(spline, solver)
self.assertAlmostEqual(spline.q[-1], 10, 5)
self.assertAlmostEqual(spline.v[-1], 0, 5)
self.assertAlmostEqual(spline.a[-1], 0, 5)
self.assertTrue(spline.t[-1] < 6)
