def test_input_restrict_freespace(self):
# With single input l_max and A_max
order=dict(x=9, y=9, z=5, yaw=5)
temp_waypoints = utils.load_waypoints('share/sample_data/waypoints_two_ellipse.yaml')
waypoints = utils.form_waypoints_polytraj(temp_waypoints,order)
time_penalty = 100.0
l_max = 1.0
A_max = 10.0
qr_p = quadrotor_polytraj.QRPolyTraj(waypoints, time_penalty, order=order,
restrict_freespace=True,l_max=l_max,A_max=A_max)
def test_input_restrict_freespace_vector_l_A(self):
order=dict(x=9, y=9, z=9, yaw=5)
temp_waypoints = utils.load_waypoints('share/sample_data/waypoints_two_ellipse.yaml')
waypoints = utils.form_waypoints_polytraj(temp_waypoints,order)
time_penalty = 100.0
l_max = np.ones(waypoints['x'].shape[1]-1)*0.5
l_max[0] = 3.0
l_max[5] = 2.0
l_max[-1] = 1.0
A_max = np.ones(waypoints['x'].shape[1]-1)*20.0
A_max[0] = 10.0
A_max[-1] = 10.0
qr_p = quadrotor_polytraj.QRPolyTraj(waypoints, time_penalty, order=order,
restrict_freespace=True,l_max=l_max,A_max=A_max)
def test_basic_input_order(self):
order=dict(x=9, y=9, z=5, yaw=5)
temp_waypoints = utils.load_waypoints('share/sample_data/waypoints_two_ellipse.yaml')
waypoints = utils.form_waypoints_polytraj(temp_waypoints,order)
time_penalty = 100.0
qr_p = quadrotor_polytraj.QRPolyTraj(waypoints, time_penalty, order=order)