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