def create_maxima_testing_data():
n = 128
points = make_circle(n=n) * 1e3
ps = 10 * q.mm
furthest = 1 * q.m
tr = Trajectory(points, ps, furthest, velocity=1 * q.m / q.s)
duration = tr.time.simplified.magnitude
t = np.linspace(0, 2 * duration, n) * q.s
# Sine-like velocity profile
s = 0.5 * tr.length * (np.sin(t.magnitude / duration * 2 * np.pi) + 1)
time_dist = list(zip(t, s))
# Use small num_points to make sure we move more than 1 px
tr = Trajectory(points, ps, furthest, time_dist=time_dist, num_points=n)
distances = tr.get_distances()
dtck = interp.splprep(distances, u=tr.parameter, s=0, k=1)[0]
return tr, dtck, ps, t
def create_maxima_testing_data():
n = 128
points = make_circle(n=n) * 1e3
ps = 10 * q.mm
furthest = 1 * q.m
tr = Trajectory(points, ps, furthest, velocity=1 * q.m / q.s)
duration = tr.time.simplified.magnitude
t = np.linspace(0, 2 * duration, n) * q.s
# Sine-like velocity profile
s = 0.5 * tr.length * (np.sin(t.magnitude / duration * 2 * np.pi) + 1)
time_dist = zip(t, s)
# Use small num_points to make sure we move more than 1 px
tr = Trajectory(points, ps, furthest, time_dist=time_dist, num_points=n)
distances = tr.get_distances()
dtck = interp.splprep(distances, u=tr.parameter, s=0, k=1)[0]
return tr, dtck, ps, t
def test_get_distances(self):
"""Compare analytically computed distances with the ones obtained from trajectory."""
points = make_circle(n=128)
x, y, z = zip(*points)
furthest = 3 * q.mm
ps = 10 * q.um
tr = Trajectory(points, ps, furthest, velocity=1 * q.mm / q.s)
d_points = np.abs(tr.points[:, 0][:, np.newaxis] - tr.points)
t = np.linspace(0, 2 * np.pi, tr.points.shape[1])
x, y, z = zip(*make_circle(n=tr.points.shape[1]))
dx = -np.sin(t)
dy = np.cos(t)
dz = z
derivatives = np.array(zip(dx, dy, dz)).T.copy()
d_derivatives = get_rotation_displacement(derivatives[:, 0], derivatives, furthest)
distances = (d_points + d_derivatives).simplified.magnitude
np.testing.assert_almost_equal(distances, tr.get_distances())
def test_get_distances(self):
"""Compare analytically computed distances with the ones obtained from trajectory."""
points = make_circle(n=128)
x, y, z = list(zip(*points))
furthest = 3 * q.mm
ps = 10 * q.um
tr = Trajectory(points, ps, furthest, velocity=1 * q.mm / q.s)
d_points = np.abs(tr.points[:, 0][:, np.newaxis] - tr.points)
t = np.linspace(0, 2 * np.pi, tr.points.shape[1])
x, y, z = list(zip(*make_circle(n=tr.points.shape[1])))
dx = -np.sin(t)
dy = np.cos(t)
dz = z
derivatives = np.array(list(zip(dx, dy, dz))).T.copy()
d_derivatives = get_rotation_displacement(derivatives[:, 0],
derivatives, furthest)
distances = (d_points + d_derivatives).simplified.magnitude
np.testing.assert_almost_equal(distances, tr.get_distances())
