def test_maxspeed_normal_neg_nz():
angle = math.radians(-30)
n = [math.cos(angle), 0, math.sin(angle)]
assert ladder.maxspeed_normal(n, 1, 1, 1) == (-pi_2, pi_2)
angle = math.radians(-80)
n = [0, math.cos(angle), math.sin(angle)]
assert ladder.maxspeed_normal(n, 1, 1, 1) == (-pi_2, 0)
def test_maxspeed_normal_pos_nz():
angle = math.radians(30)
n = [0, math.cos(angle), math.sin(angle)]
assert ladder.maxspeed_normal(n, 1, 1, 1) == (approx(-0.3747344327087402),
approx(-0.7494688654174801))
angle = math.radians(80)
n = [math.cos(angle), 0, math.sin(angle)]
assert ladder.maxspeed_normal(n, 1, 1, 1) == (approx(0.946132171085528),
approx(-2.099982918575732))
def test_maxspeed_normal_combinations():
assert ladder.maxspeed_normal([1, 0, 0], 1, 1, 1) == (-pi_2, -pi_2)
assert ladder.maxspeed_normal([1, 0, 0], 1, 1, -1) == (-pi_2, pi_2)
assert ladder.maxspeed_normal([1, 0, 0], 1, -1, 1) == (pi_2, -pi_2)
assert ladder.maxspeed_normal([1, 0, 0], 1, -1, -1) == (pi_2, pi_2)
assert ladder.maxspeed_normal([1, 0, 0], -1, 1, 1) == (pi_2, pi_2)
assert ladder.maxspeed_normal([1, 0, 0], -1, 1, -1) == (pi_2, -pi_2)
assert ladder.maxspeed_normal([1, 0, 0], -1, -1, 1) == (-pi_2, pi_2)
assert ladder.maxspeed_normal([1, 0, 0], -1, -1, -1) == (-pi_2, -pi_2)
def test_maxspeed_normal_n_length():
with raises(ValueError):
ladder.maxspeed_normal([1, 1, 0], 1, 1, 1)
with raises(ValueError):
ladder.maxspeed_normal([-1, 1e-3, 0], 1, 1, 1)
with raises(ValueError):
tmp = math.sqrt(1 / 3)
ladder.maxspeed_normal([tmp, tmp, tmp + 1e-3], 1, 1, 1)
def test_maxspeed_normal_1_nz():
assert ladder.maxspeed_normal([0, 0, 1], 1, -1, 1) == (0, None)
assert ladder.maxspeed_normal([0, 0, -1], -1, 1, -1) == (0, None)
def test_maxspeed_normal_not1_signs():
assert ladder.maxspeed_normal([1, 0, 0], 1e10, 1e-10,
1e10) == (-pi_2, -pi_2)
assert ladder.maxspeed_normal([1, 0, 0], -1e30, -1e30,
1e-20) == (-pi_2, pi_2)
def test_maxspeed_normal_2d():
with raises(IndexError):
ladder.maxspeed_normal([1, 0], 1, 1, 1)