def curvature(i, j): # Computes the curvature of the clothoid
x0, x1 = [s[i], s[j]]
y0, y1 = [z[i], z[j]]
tht0, tht1 = [0, 0]
k, K, L = clothoid.build_clothoid(x0, y0, tht0, x1, y1, tht1)
extremal_curvatures = [k + L * K, k]
return max(np.absolute(extremal_curvatures))
def test_land_elevations_pair_v1(self, elevation_a, arc_length_a,
elevation_b, arc_length_b):
theta_0 = 0
theta_1 = 0
start_curvature, curvature_per_length, length = \
clothoid.build_clothoid(arc_length_a, elevation_a, theta_0,
arc_length_b, elevation_b, theta_1)
extremal_curvatures = [start_curvature,
start_curvature + length * curvature_per_length]
largest_curvature = max(np.absolute(extremal_curvatures))
is_elevation_pair_valid = largest_curvature < self.max_curvature
return is_elevation_pair_valid
