def test_get_center(self): clothoid = AlgebraClothoid(2.0) xm, ym = clothoid.get_center(2.0) self.assertAlmostEqual(xm, 0.9917243) self.assertAlmostEqual(ym, 2.0825932)
def test_get_tau(self): clothoid = AlgebraClothoid(2.0) self.assertAlmostEqual(clothoid.get_tau(1), 0.125)
def test_get_L(self): clothoid = AlgebraClothoid(2.0) self.assertAlmostEqual(clothoid.get_L(10), 0.4)
def test_approximate(self): clothoid = AlgebraClothoid(2.0) results = clothoid.approximate(5, 10) for expected, result in zip(expected_points, results): self.assertAlmostEqual(expected[0], result[0]) self.assertAlmostEqual(expected[1], result[1])
def test_get_radius(self): clothoid = AlgebraClothoid(2.0) self.assertAlmostEqual(clothoid.get_radius(1), 4.) self.assertAlmostEqual(clothoid.get_radius(0), 0.)