def compute_min_time(self, tube_curvature_array, arc_lengths):
max_allowed_speeds = \
curvature_constrain_speed.get_vertical_curvature_constrained_speeds(
tube_curvature_array)
time_step_size = 1 #Second
speeds_by_time, min_time = \
reparametrize_speed.constrain_and_reparametrize_speeds(
max_allowed_speeds, arc_lengths, time_step_size)
return min_time
def compute_min_time(self, spatial_curvature_array, tube_curvature_array,
arc_lengths):
max_allowed_speeds_lateral = \
curvature_constrain_speed.get_lateral_curvature_constrained_speeds(
spatial_curvature_array)
max_allowed_speeds_vertical = \
curvature_constrain_speed.get_vertical_curvature_constrained_speeds(
tube_curvature_array)
effective_max_allowed_speeds_by_arc_length = np.minimum(
max_allowed_speeds_vertical, max_allowed_speeds_lateral)
time_step_size = 1 #Second
speeds_by_time, min_time = \
reparametrize_speed.constrain_and_reparametrize_speeds(
effective_max_allowed_speeds_by_arc_length, arc_lengths, time_step_size)
return min_time
