def test_target_velocity_V(self):
solver = TrajectorySolver(15, 10, 5.0, 0, -10, -5.0)
initial = Knot(0, 11.51496564563041, 5.6694744752383066, 0)
final = Knot(None, 14.732396990426981, 0, None)
spline = solver.target_velocity(initial, final)
## self.plot_it(spline, solver, "test_target_velocity_V")
self.validate_spline(spline, solver)
self.validate_endpoints(spline, initial, final, pos=False, time=False)
def test_target_velocity_no_delta_v_I(self):
"""Simple case. No acceleration involved."""
solver = TrajectorySolver(40, 5, 2.5, 0, -20, -1.25)
initial = Knot(0, 20, 0, 0)
final = Knot(None, 20, 0, None)
spline = solver.target_velocity(initial, final)
self.validate_spline(spline, solver)
self.validate_endpoints(spline, initial, final, pos=False, time=False)
def test_target_velocity_nonzero_endpoints_II(self):
"""Velocity is exactly target, after initial acceleration is dissipated."""
solver = TrajectorySolver(40, 5, 5)
initial = Knot(0,0,5,0)
final = Knot(None,2.5,0,None)
spline = solver.target_velocity(initial, final)
## self.plot_it(spline, solver, "test_target_velocity_nonzero_endpoints_II")
self.validate_spline(spline, solver)
self.validate_endpoints(spline, initial, final, pos=False, time=False)
def test_target_velocity_VI(self):
"""Initial positive acceleration which overshoots target velocity."""
solver = TrajectorySolver(60, 5, 2.5, 0, -5, -2.5)
initial = Knot(0, 14.609323938835942, 1.3976338239396946, 0)
final = Knot(None, 14.999999771797182, 0, None)
spline = solver.target_velocity(initial, final)
## self.plot_it(spline, solver, "test_target_velocity_VI")
self.validate_spline(spline, solver)
self.validate_endpoints(spline, initial, final, pos=False, time=False)
def test_target_velocity_no_delta_v_II(self):
"""Velocity is already at target, but there's an initial acceleration.
Asymmetric jerk limits."""
solver = TrajectorySolver(40, 5, 2.5, 0, -20, -1.25)
initial = Knot(0, 20, 5, 0)
final = Knot(None, 20, 0, None)
spline = solver.target_velocity(initial, final)
## self.plot_it(spline, solver, "test_target_velocity_no_delta_v_II")
self.validate_spline(spline, solver)
self.validate_endpoints(spline, initial, final, pos=False, time=False)
def test_target_velocity_nonzero_endpoints_I(self):
"""Initial accel in same direction as initial velocity. Asymmetrical limits"""
solver = TrajectorySolver(40, 5, 2.5, 0, -20, -1.25)
initial = Knot(10,2,1,0)
final = Knot(None,35,3,None)
spline = solver.target_velocity(initial, final)
## self.plot_it(spline, solver, "test_target_velocity_nonzero_endpoints_I")
self.validate_spline(spline, solver)
self.validate_endpoints(spline, initial, final, pos=False, time=False)
self.assertTrue(spline.q[-1] > 0)
self.assertAlmostEqual(spline.t[-1], 7.56, self.PLACES)
def test_target_velocity_IV(self):
"""Asymmetrical limits."""
solver = TrajectorySolver(40, 5, 2.5, 0, -20, -1.25)
### Decelerating, zero at endpoints
initial = Knot(0,35,0,0)
final = Knot(None, 0, 0, 0)
spline = solver.target_velocity(initial, final)
## self.plot_it(spline, solver)
self.validate_spline(spline, solver)
self.validate_endpoints(spline, initial, final, pos=False, time=False)
def test_target_velocity_III(self):
"""Decelerating. Reaches a_max"""
solver = TrajectorySolver(40, 5, 2.5)
### zero at endpoints
initial = Knot(0,35,0,0)
final = Knot(None, 0, 0, 0)
spline = solver.target_velocity(initial, final)
# self.plot_it(spline, solver)
self.validate_spline(spline, solver)
self.validate_endpoints(spline, initial, final, pos=False, time=False)
# Non-zero endpoints
initial = Knot(10,35,1,0)
final = Knot(None, 2, -1, 0)
spline = solver.target_velocity(initial, final)
# self.plot_it(spline, solver)
self.validate_spline(spline, solver)
self.validate_endpoints(spline, initial, final, pos=False, time=False)
self.assertAlmostEqual(spline.t[-1], 8.6799999999, self.PLACES)
def test_target_velocity_II(self):
"""Accelerating. Doesn't reach a_max"""
solver = TrajectorySolver(40, 40, 2.5)
### zero at endpoints
spline = solver.target_velocity(Knot(0,0,0,0), Knot(None, 35, 0, 0))
# self.plot_it(spline, solver)
self.validate_spline(spline, solver)
self.assertTrue(spline.q[-1] > 0)
self.assertAlmostEqual(spline.v[-1], 35, self.PLACES)
self.assertAlmostEqual(spline.a[-1], 0, self.PLACES)
self.assertAlmostEqual(spline.t[-1], 7.4833147735, self.PLACES)
# Non-zero endpoints
initial = Knot(10,2,1,0)
final = Knot(None, 35, 3, 5.883314773)
spline = solver.target_velocity(initial, final)
# self.plot_it(spline, solver)
self.validate_spline(spline, solver)
self.validate_endpoints(spline, initial, final, pos=False)
def test_target_velocity_I(self):
"""Accelerating. Reaches a_max"""
solver = TrajectorySolver(40, 5, 2.5)
### zero at endpoints
initial = Knot(0,0,0,0)
final = Knot(None, 35, 0, 9)
spline = solver.target_velocity(initial, final)
## self.plot_it(spline, solver)
self.validate_spline(spline, solver)
self.validate_endpoints(spline, initial, final, pos=False)
### Unchanging accel
spline = solver.target_velocity(Knot(0,0,5,0), Knot(None, 35, 5, 0))
# self.plot_it(spline, solver)
self.validate_spline(spline, solver)
self.assertTrue(spline.q[-1] > 0)
self.assertAlmostEqual(spline.v[-1], 35, self.PLACES)
self.assertAlmostEqual(spline.a[-1], 5, self.PLACES)
self.assertAlmostEqual(spline.t[-1], 7, self.PLACES)
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()