def test_set_unordered_time_points(self):
gen = CustomTrajectoryGenerator()
self.assertRaises(
ValueError, lambda: gen.set_trajectory(1, [(1, 0, 0), (1, 0, 0)]))
self.assertRaises(
ValueError, lambda: gen.set_trajectory(1, [(1, 0, 0),
(0.5, 0, 0)]))
def test_set_interpolate(self):
gen = CustomTrajectoryGenerator()
gen.interpolate = True
self.assertRaises(TypeError,
lambda: CustomTrajectoryGenerator(interpolate=1))
self.assertRaises(TypeError,
lambda: CustomTrajectoryGenerator(interpolate=None))
def test_set_cyclic(self):
gen = CustomTrajectoryGenerator()
gen.cyclic = True
self.assertRaises(TypeError,
lambda: CustomTrajectoryGenerator(cyclic=1))
self.assertRaises(TypeError,
lambda: CustomTrajectoryGenerator(cyclic=None))
def test_get_traj_data_noncyclic_too_large(self):
gen = CustomTrajectoryGenerator(interpolate=True)
gen.set_trajectory(1, [(0, 0, 1, True), (1, 10, 20, False)])
pt = gen.get_traj_point(8.5)
self.assertEqual(10, pt[0])
self.assertEqual(20, pt[1])
self.assertEqual(False, pt[2])
def test_set_active_traj(self):
gen = CustomTrajectoryGenerator()
gen.set_trajectory(1, [(1, 0, 0, True)])
gen.set_trajectory(2, [(0, 0, 0), (1, 0, 0)])
gen.active_traj_id = 1
self.assertEqual(1, gen.active_traj_id)
gen.active_traj_id = None
try:
gen.active_traj_id = 3
self.fail()
except ValueError:
pass
def test_get_traj_data_cyclic(self):
gen = CustomTrajectoryGenerator(interpolate=True, cyclic=True)
gen.set_trajectory(1, [(0, 0, 1, True), (1, 10, 20, False),
(2, 20, 30, True)])
pt = gen.get_traj_point(1)
self.assertEqual(10, pt[0])
self.assertEqual(20, pt[1])
self.assertEqual(False, pt[2])
pt = gen.get_traj_point(2)
self.assertEqual(20, pt[0])
self.assertEqual(30, pt[1])
self.assertEqual(True, pt[2])
pt = gen.get_traj_point(2.4)
self.assertEqual(4, pt[0])
self.assertEqual(9, pt[1])
self.assertEqual(True, pt[2])
def test_get_traj_data_interpolate(self):
gen = CustomTrajectoryGenerator(interpolate=True)
gen.set_trajectory(1, [(0, 0, 1, True), (1, 10, 20, False),
(2, 20, 30, True), (3, 30, 40, False)])
pt = gen.get_traj_point(2)
self.assertEqual(20, pt[0])
self.assertEqual(30, pt[1])
self.assertEqual(True, pt[2])
pt = gen.get_traj_point(2.33)
self.assertEqual(23, pt[0])
self.assertEqual(33, pt[1])
self.assertEqual(True, pt[2])
pt = gen.get_traj_point(2.66)
self.assertEqual(27, pt[0])
self.assertEqual(37, pt[1])
self.assertEqual(False, pt[2])
def test_get_traj_data_no_interpolate(self):
gen = CustomTrajectoryGenerator(interpolate=False)
gen.set_trajectory(1, [(0, 0, 1, True), (1, 1, 2, False),
(2, 2, 3, True), (3, 3, 4, False)])
pt = gen.get_traj_point(2)
self.assertEqual(2, pt[0])
self.assertEqual(3, pt[1])
self.assertEqual(True, pt[2])
pt = gen.get_traj_point(2.3)
self.assertEqual(2, pt[0])
self.assertEqual(3, pt[1])
self.assertEqual(True, pt[2])
pt = gen.get_traj_point(2.6)
self.assertEqual(2, pt[0])
self.assertEqual(3, pt[1])
self.assertEqual(True, pt[2])
def test_set_traj_invalid_time_point(self):
gen = CustomTrajectoryGenerator()
self.assertRaises(TypeError, lambda: gen.set_trajectory(1, [""]))
self.assertRaises(TypeError, lambda: gen.set_trajectory(1, [(1, 2)]))
self.assertRaises(TypeError,
lambda: gen.set_trajectory(1, [(1, 2, 3, 4, 5)]))
self.assertRaises(TypeError,
lambda: gen.set_trajectory(1, [(None, 0, 0)]))
self.assertRaises(TypeError,
lambda: gen.set_trajectory(1, [("", 0, 0)]))
self.assertRaises(TypeError,
lambda: gen.set_trajectory(1, [(0, 0.1, 0)]))
self.assertRaises(TypeError,
lambda: gen.set_trajectory(1, [(0, None, 0)]))
self.assertRaises(TypeError,
lambda: gen.set_trajectory(1, [(0, 0, 0.1)]))
self.assertRaises(TypeError,
lambda: gen.set_trajectory(1, [(0, 0, None)]))
self.assertRaises(TypeError,
lambda: gen.set_trajectory(1, [(0, 0, 0, None)]))
self.assertRaises(TypeError,
lambda: gen.set_trajectory(1, [(0, 0, 0, 1)]))
def test_set_empty_traj(self):
gen = CustomTrajectoryGenerator()
self.assertRaises(TypeError, lambda: gen.set_trajectory(1, []))
def test_set_good_trajectory(self):
gen = CustomTrajectoryGenerator()
gen.set_trajectory(1, [(1, 0, 0, True)])
gen.set_trajectory(2, [(0, 0, 0), (0.5, 0, 0)])
def test_time_does_not_start_at_0(self):
gen = CustomTrajectoryGenerator(interpolate=False)
gen.set_trajectory(1, [(1, 1, 2, False), (2, 2, 3, True)])
gen.validate()
gen.cyclic = True
self.assertRaises(ValueError, lambda: gen.validate())
self.assertRaises(ValueError, lambda: gen.get_traj_point(0.5))
gen._validation_err = None
self.assertRaises(ValueError, lambda: gen.get_traj_point(0.5))
gen.cyclic = False
gen.validate()
def test_create_empty(self):
CustomTrajectoryGenerator()