def test_get_point(self):
# Stationary trajectory
traj = Trajectory(self.control_points,
pixel_size=1 * q.m,
furthest_point=1 * q.m)
np.testing.assert_equal(traj.get_point(1 * q.s),
traj.control_points[0])
tck = interp.splprep(list(zip(*self.control_points)), s=0)[0]
def evaluate_point(t):
if t > 1:
t = 1
return interp.splev(t, tck) * q.m
# Create velocity profile which goes until the trajectory end.
# We need to scale the sine amplitude in order to
# max(sin(x)) = trajectory.length
times = np.linspace(0, 2 * np.pi, self.n) * q.s
# Normalize for not going below zero.
dist = (self.traj.length +
self.traj.length * np.sin(times.magnitude)) * q.m
traj = Trajectory(
self.control_points,
pixel_size=1 * q.m,
furthest_point=1 * q.m,
time_dist=list(zip(times, dist)),
)
for i in range(len(times)):
np.testing.assert_almost_equal(traj.get_point(times[i]),
evaluate_point(dist[i] /
traj.length),
decimal=4)
def test_get_point(self):
# Stationary trajectory
traj = Trajectory(self.control_points, pixel_size=1 * q.m, furthest_point=1 * q.m)
np.testing.assert_equal(traj.get_point(1 * q.s), traj.control_points[0])
tck = interp.splprep(zip(*self.control_points), s=0)[0]
def evaluate_point(t):
if t > 1:
t = 1
return interp.splev(t, tck) * q.m
# Create velocity profile which goes until the trajectory end.
# We need to scale the sine amplitude in order to
# max(sin(x)) = trajectory.length
times = np.linspace(0, 2 * np.pi, self.n) * q.s
# Normalize for not going below zero.
dist = (self.traj.length + self.traj.length * np.sin(times.magnitude)) * q.m
traj = Trajectory(self.control_points, pixel_size=1 * q.m, furthest_point=1 * q.m,
time_dist=zip(times, dist))
for i in range(len(times)):
np.testing.assert_almost_equal(traj.get_point(times[i]),
evaluate_point(dist[i] / traj.length), decimal=4)
def test_get_next_time(self):
"""Very small rotation circle but large object extent."""
def pr(v, decimals=2):
return np.round(v, decimals)
points = make_circle(n=128) * 1e-3
x, y, z = list(zip(*points))
furthest = 1 * q.mm
ps = 10 * q.um
tr = Trajectory(points, ps, furthest, velocity=1 * q.mm / q.s)
t_0 = 0 * q.s
t_1 = 0 * q.s
max_diff = 0 * q.m
while t_1 != np.inf * q.s:
t_1 = tr.get_next_time(t_0)
p_0 = tr.get_point(t_0)
p_1 = tr.get_point(t_1)
d_0 = tr.get_direction(t_0, norm=True)
d_1 = tr.get_direction(t_1, norm=True)
dp = np.abs(p_1 - p_0)
dd = np.abs(d_1 - d_0) * furthest
total = dp + dd
ds = max(total)
if ds > max_diff:
max_diff = ds
t_0 = t_1
max_diff = max_diff.rescale(q.um).magnitude
ps = ps.rescale(q.um).magnitude
np.testing.assert_almost_equal(ps, max_diff, decimal=2)
def test_get_next_time(self):
"""Very small rotation circle but large object extent."""
def pr(v, decimals=2):
return np.round(v, decimals)
points = make_circle(n=128) * 1e-3
x, y, z = zip(*points)
furthest = 1 * q.mm
ps = 10 * q.um
tr = Trajectory(points, ps, furthest, velocity=1 * q.mm / q.s)
t_0 = 0 * q.s
t_1 = 0 * q.s
max_diff = 0 * q.m
while t_1 != np.inf * q.s:
t_1 = tr.get_next_time(t_0)
p_0 = tr.get_point(t_0)
p_1 = tr.get_point(t_1)
d_0 = tr.get_direction(t_0, norm=True)
d_1 = tr.get_direction(t_1, norm=True)
dp = np.abs(p_1 - p_0)
dd = np.abs(d_1 - d_0) * furthest
total = dp + dd
ds = max(total)
if ds > max_diff:
max_diff = ds
t_0 = t_1
max_diff = max_diff.rescale(q.um).magnitude
ps = ps.rescale(q.um).magnitude
np.testing.assert_almost_equal(ps, max_diff, decimal=2)
