def test_target_time_XVIII(self):
solver = TrajectorySolver(15, 10, 5.0, 0, -10, -5.0)
initial = Knot(23.973000000002685, 15.0, 0.0, 1154.2775841472599)
final = Knot(277.55799999999999, 15.0, 0, 1172.0256197255005)
spline = solver.target_time(initial, final)
## self.plot_it(spline, solver, "test_target_time_XVIII")
self.validate_spline(spline, solver)
self.validate_endpoints(spline, initial, final)
def test_target_time_XXI(self):
solver = TrajectorySolver(20, 7.2, 5.0, 0, -7.2, -5.0)
initial = Knot(9.8130000000001303, 18.114342061230673, 4.3424163075059123, 3.3492945162765952)
final = Knot(709.7650000000001, 20.0, 0, 38.72843888888891)
spline = solver.target_time(initial, final)
## self.plot_it(spline, solver, "test_target_time_XXI")
self.validate_spline(spline, solver)
self.validate_endpoints(spline, initial, final)
def test_target_time_XXII(self):
solver = TrajectorySolver(67.0, 9.0, 7.0, 0, -9.0, -7.0)
initial = Knot(41.653999342612224, 44.0, 0.0, 5425.3539044854588)
final = Knot(196.25800000000001, 2.3999999999999999, 0, 5432.6250864545336)
spline = solver.target_time(initial, final)
## self.plot_it(spline, solver, "test_target_time_XXI")
self.validate_spline(spline, solver)
self.validate_endpoints(spline, initial, final)
def test_target_time_XV(self):
"""Problem from testing."""
solver = TrajectorySolver(15, 5, 2.5, 0, -5, -2.5)
initial = Knot(52.500999999999998, 14.917710067720561, 0, 2924.9500320272209)
final = Knot(643.9559999999999, 15.0, 0, 2964.5960666793744)
spline = solver.target_time(initial, final)
self.validate_spline(spline, solver)
self.validate_endpoints(spline, initial, final)
def test_target_time_XIV(self):
"""Problem from testing."""
solver = TrajectorySolver(15, 5, 2.5, 0, -5, -2.5)
initial = Knot(9.9000001907348629, 0.0, 0.0, 1978.7999999999861)
final = Knot(267.03399999999999, 15.0, 0, 2002.9280666602958)
spline = solver.target_time(initial, final)
self.validate_spline(spline, solver)
self.validate_endpoints(spline, initial, final)
def test_target_time_XVI(self):
"""Problem from testing."""
solver = TrajectorySolver(60, 5, 2.5, 0, -5, -2.5)
initial = Knot(0.0, 0.0, 0, 0.0)
final = Knot(57.926000000000002, 15.0, 0, 7.1870000000000003)
spline = solver.target_time(initial, final)
## self.plot_it(spline, solver, "test_target_time_XVI")
self.validate_spline(spline, solver)
self.validate_endpoints(spline, initial, final)
def test_target_time_II(self):
"""Non-zero endpoints"""
solver = TrajectorySolver(40, 5, 2.5, 0, -5, -2.5)
initial = Knot(100, 10 , 3, 50)
final = Knot(1000, 2, -1, 100)
spline = solver.target_time(initial, final)
## self.plot_it(spline, solver, "test_target_time_II")
self.validate_spline(spline, solver)
self.validate_endpoints(spline, initial, final)
def test_target_time_XIII(self):
"""Cruise velocity is very near to initial and final velocities."""
solver = TrajectorySolver(15, 5, 2.5, 0, -5, -2.5)
initial = Knot(52.5, 14.99716768771842, 0, 1530.8197971206223)
final = Knot(267.03399999999999, 15.0, 0, 1545.1247333079007)
spline = solver.target_time(initial, final)
## self.plot_it(spline, solver, "test_target_time_XIII")
self.validate_spline(spline, solver)
self.validate_endpoints(spline, initial, final)
def test_target_time_X(self):
"""Problem from testing. Initial velocity is very close to ave velocity."""
solver = TrajectorySolver(15, 5, 2.5, 0, -5, -2.5)
initial = Knot(47.529766162611494, 11.907670085181412, 0, 101.08822071657993)
final = Knot(309.26081973091823, 15.0, 0, 122.74317716486676)
spline = solver.target_time(initial, final)
## self.plot_it(spline, solver, "test_target_time_X")
self.validate_spline(spline, solver)
self.validate_endpoints(spline, initial, final)
def test_target_time_IX(self):
"""Problem from testing. Initial velocity is close to the cruise velocity."""
solver = TrajectorySolver(60, 5, 2.5, 0, -5, -2.5)
initial = Knot(47.529766162611494, 7.8664068437709354, 0, 43.972657903425244)
final = Knot(309.26081973091823, 15.0, 0, 75.376510498199906)
spline = solver.target_time(initial, final)
## self.plot_it(spline, solver, "test_target_time_IX")
self.validate_spline(spline, solver)
self.validate_endpoints(spline, initial, final)
def test_target_time_VIII(self):
"""Another problem that occured during testing"""
solver = TrajectorySolver(60, 5, 2.5, 0, -5, -2.5)
initial = Knot(42.629766162611496, 7.8664068437709354, 0, 47.65161563986365)
final = Knot(351.8905858935297, 15.0, 0, 73.876510498199906)
spline = solver.target_time(initial, final)
## self.plot_it(spline, solver, "test_target_time_VIII")
self.validate_spline(spline, solver)
self.validate_endpoints(spline, initial, final)
def test_target_time_VII(self):
"""A problem that cropped up during testing."""
solver = TrajectorySolver(60, 5, 2.5, 0, -5, -2.5)
initial = Knot(93.318734132069295, 16.0, 0.0, 5.2)
final = Knot(307.3406064472577, 16.0, 0, 18.95297859206239)
spline = solver.target_time(initial, final)
## self.plot_it(spline, solver, "test_target_time_VII")
self.validate_spline(spline, solver)
self.validate_endpoints(spline, initial, final)
def test_target_time_VI(self):
"""Vehicle needs to exactly maintain current speed to achieve target time"""
solver = TrajectorySolver(40, 5, 2.5, 0, -5, -2.5)
initial = Knot(0,40,0,0)
final = Knot(1000,40,0,25)
spline = solver.target_time(initial, final)
## self.plot_it(spline, solver, "test_target_time_VI")
self.validate_spline(spline, solver)
self.validate_endpoints(spline, initial, final)
def test_target_time_V(self):
"""Very short distance, but plenty of time. Does not have a constant acceleration segment."""
solver = TrajectorySolver(40, 5, 2.5, 0, -5, -2.5)
initial = Knot(0,0,0,0)
final = Knot(5,0,0,10)
spline = solver.target_time(initial, final)
## self.plot_it(spline, solver, "test_target_time_V")
self.validate_spline(spline, solver)
self.validate_endpoints(spline, initial, final)
def test_target_time_IV(self):
"""Vehicle needs to slow down to achieve target time"""
solver = TrajectorySolver(40, 5, 2.5, 0, -5, -2.5)
initial = Knot(0,40,0,0)
final = Knot(1000,40,0,54)
spline = solver.target_time(initial, final)
## self.plot_it(spline, solver, "test_target_time_IV")
self.validate_spline(spline, solver)
self.validate_endpoints(spline, initial, final)
def test_target_time_XIX(self):
""" negative time interval in spline. """
solver = TrajectorySolver(20, 10, 5, 0, -10, -5.0)
initial = Knot(2,19.2506,2.737,3.452)
final = Knot(701.952,20.0,0,39.3653)
spline = solver.target_time(initial, final, 20)
## self.plot_it(spline, solver, "test_target_time_XIX")
self.validate_spline(spline, solver)
self.validate_endpoints(spline, initial, final)
def test_target_time_XX(self):
""" Fatal Trajectory Error in simple spline. """
solver = TrajectorySolver(60, 10, 6, 0, -10, -6.0)
initial = Knot(35.570999922343617, 20.000000000263217, 4.5474735088646412e-13, 1660.7976499923104)
final = Knot(2593.1289999999999, 20.0, 0, 1789.7778999999914)
spline = solver.target_time(initial, final, 20)
## self.plot_it(spline, solver, "test_target_time_XX")
self.validate_spline(spline, solver)
self.validate_endpoints(spline, initial, final)
def test_target_time_XI(self):
"""Problem from testing."""
solver = TrajectorySolver(15, 5, 2.5, 0, -5, -2.5)
initial = Knot(4.8999999999999986, 0.0, 0.0, 81.599999999999994)
final = Knot(309.26081973091823, 15.0, 0, 104.90984383153337)
spline = solver.target_time(initial, final)
## self.plot_it(spline, solver, "test_target_time_XI")
self.validate_spline(spline, solver)
self.validate_endpoints(spline, initial, final)
def test_target_time_I(self):
"""Uses zero for accel and velocity endpoints."""
solver = TrajectorySolver(40, 5, 2.5, 0, -5, -2.5)
initial = Knot(0,0,0,0)
final = Knot(1000, 0, 0, 54)
spline = solver.target_time(initial, final) # approx 20 m/s cruise, ignoring jerk limits
## self.plot_it(spline, solver, "test_target_time_I")
self.validate_spline(spline, solver)
self.validate_endpoints(spline, initial, final)
def test_target_time_increase_vel(self):
"""Vehicle starts with zero velocity and ends with a velocity that is
higher than the 'cruising velocity' required to hit the target time."""
solver = TrajectorySolver(40, 5, 2.5, 0, -5, -2.5)
initial = Knot(0,0,0,0)
final = Knot(1000, 40, 0, 54)
spline = solver.target_time(initial, final)
## self.plot_it(spline, solver, "test_target_time_increase_vel")
self.validate_spline(spline, solver)
self.validate_endpoints(spline, initial, final)
def test_target_time_XVII(self):
"""Problem from testing. Positive starting acceleration and velocity.
Leads to negative 0->1 duration."""
solver = TrajectorySolver(15, 10, 5.0, 0, -10, -5.0)
initial = Knot(52.503999999999998, 11.51496564563041, 5.6694744752383066, 55.354144791110656)
final = Knot(643.97199999999998, 15.0, 0, 95.582584140902242)
spline = solver.target_time(initial, final, max_speed=15.0)
## self.plot_it(spline, solver, "test_target_time_XVII")
self.validate_spline(spline, solver)
self.validate_endpoints(spline, initial, final)
def test_target_time_nearly_stops(self):
"""Initial knot has a positive velocity, and the vehicle needs to
almost come to a halt in order to arrive on time. Check that
the vehicle does not reverse in order to meet the schedule.
"""
solver = TrajectorySolver(20, 5, 2.5, 0, -5, -2.5)
initial = Knot(0,20,0,0)
final = Knot(500,20,0,1000)
spline = solver.target_time(initial, final)
## self.plot_it(spline, solver, "test_target_time_nearly_stops")
self.validate_spline(spline, solver)
self.validate_endpoints(spline, initial, final)
self.assertTrue(spline.get_min_velocity() >= 0)
class SplineExplorer(traits.HasTraits):
"""A simple UI to adjust the parameters and view the resulting splines."""
v_min = traits.Float(0)
v_max = traits.Float(15)
a_min = traits.Float(-5)
a_max = traits.Float(5)
j_min = traits.Float(-2.5)
j_max = traits.Float(2.5)
mass = traits.Float(400)
q_i = traits.Float
v_i = traits.Float
a_i = traits.Float
t_i = traits.Float
q_f = traits.Float(100)
v_f = traits.Float(0)
a_f = traits.Float(0)
t_f = traits.Float(18)
plot_names = traits.List(
["Position", "Jerk", "Velocity", "Power", "Acceleration"])
active_plots = traits.List
target_type = traits.Enum(('Position', 'Velocity', 'Acceleration', 'Time'))
plot_container = traits.Instance(Container)
recalculate = menu.Action(name="Recalculate", action="recalc")
dump = menu.Action(name="Print", action="dump")
save = menu.Action(name="Save", action="save")
trait_view = ui.View(ui.HGroup(
ui.VGroup(
ui.Item(name='target_type', label='Target'),
ui.VGroup(ui.Item(name='active_plots',
show_label=False,
editor=ui.CheckListEditor(cols=3,
name='plot_names'),
style='custom'),
label='Show Plots',
show_border=True),
ui.VGroup(ui.Item(name='q_i', label='Position'),
ui.Item(name='v_i', label='Velocity'),
ui.Item(name='a_i', label='Acceleration'),
ui.Item(name='t_i', label='Time'),
label='Initial Conditions',
show_border=True),
ui.VGroup(ui.Item(
name='q_f',
label='Position',
enabled_when="target_type not in ('Velocity', 'Acceleration')"
),
ui.Item(name='v_f',
label='Velocity',
enabled_when="target_type != 'Acceleration'"),
ui.Item(name='a_f', label='Acceleration'),
ui.Item(name='t_f',
label='Time',
enabled_when="target_type == 'Time'"),
label='Final Conditions:',
show_border=True),
ui.VGroup(ui.Item(name='v_min', label='Min Velocity'),
ui.Item(name='v_max', label='Max Velocity'),
ui.Item(name='a_min', label='Min Acceleration'),
ui.Item(name='a_max', label='Max Acceleration'),
ui.Item(name='j_min', label='Min Jerk'),
ui.Item(name='j_max', label='Max Jerk'),
ui.Item(name='mass', label='Vehicle Mass'),
label='Constraints',
show_border=True)),
ui.Item('plot_container', editor=ComponentEditor(), show_label=False)),
title='Cubic Spline Explorer',
handler=SEButtonHandler(),
buttons=[recalculate, dump, save],
resizable=True,
width=1000)
def __init__(self):
super(SplineExplorer, self).__init__()
self.active_plots = self.plot_names[:]
self.active_plots.remove("Power")
self.calc()
def calc(self):
try:
self.solver = TrajectorySolver(self.v_max, self.a_max, self.j_max,
self.v_min, self.a_min, self.j_min)
self.initial = Knot(self.q_i, self.v_i, self.a_i, self.t_i)
self.final = Knot(self.q_f, self.v_f, self.a_f, self.t_f)
if self.target_type == 'Position':
self.spline = self.solver.target_position(
self.initial, self.final)
elif self.target_type == 'Velocity':
self.spline = self.solver.target_velocity(
self.initial, self.final)
elif self.target_type == 'Acceleration':
self.spline = self.solver.target_acceleration(
self.initial, self.final)
elif self.target_type == 'Time':
self.spline = self.solver.target_time(self.initial, self.final)
pos = vel = accel = jerk = power = False
if "Position" in self.active_plots: pos = True
if "Velocity" in self.active_plots: vel = True
if "Acceleration" in self.active_plots: accel = True
if "Jerk" in self.active_plots: jerk = True
if "Power" in self.active_plots: power = True
self.plotter = CSplinePlotter(self.spline,
self.v_max,
self.a_max,
self.j_max,
self.v_min,
self.a_min,
self.j_min,
mass=self.mass,
plot_pos=pos,
plot_vel=vel,
plot_accel=accel,
plot_jerk=jerk,
plot_power=power)
self.plot_container = self.plotter.container
except:
self.initial = None
self.final = None
self.spline = None
self.plot_container = Container()
def display(self):
self.configure_traits()
def get_save_filename(self):
"""Get a filename from the user via a FileDialog. Returns the filename."""
dialog = FileDialog(action="save as",
default_filename="spline_00",
wildcard="*.png")
dialog.open()
if dialog.return_code == OK:
return dialog.path
def save(self, path):
"""Save an image of the plot. Does not catch any exceptions."""
# Create a graphics context of the right size
win_size = self.plot_container.outer_bounds
plot_gc = chaco.PlotGraphicsContext(win_size)
#plot_gc.set_fill_color("transparent")
# Place the plot component into it
plot_gc.render_component(self.plot_container)
# Save out to the user supplied filename
plot_gc.save(path)
def _active_plots_changed(self):
self.calc()
def _target_type_changed(self):
self.calc()
