def test_long_way_around(self):
error = smallest_allowed_error(
mount_enc_position=-1.0,
target_enc_position=1.0,
no_cross_position=0.0,
)
assert_allclose(error, -358.0)
def test_target_opposite_dir_from_limit(self):
error = smallest_allowed_error(
mount_enc_position=0.0,
target_enc_position=60.0,
no_cross_position=-30.0,
)
assert_allclose(error, 60.0)
def test_target_closer_than_limit(self):
error = smallest_allowed_error(
mount_enc_position=0.0,
target_enc_position=1.0,
no_cross_position=30.0,
)
assert_allclose(error, 1.0)
def distance_to(self, other_destination: "Position") -> int:
"""Returns the cost of moving the mount from this position to another position
Assumes that the slew rate is the same for all mount axes.
Args:
other_destination: Another instance of this class
Returns:
An integer value representing the cost.
"""
smallest_encoder_errors = []
for axis, encoder_position in enumerate(self.encoder_positions):
smallest_encoder_errors.append(
smallest_allowed_error(
encoder_position.deg,
other_destination.encoder_positions[axis].deg,
self.mount.no_cross_encoder_positions()[axis].deg))
max_error_mag = np.max(np.abs(smallest_encoder_errors))
# scale by 1000 to minimize precision loss when quantizing to integer
return int(1000 * max_error_mag)
def test_vector_with_limit(self):
error = smallest_allowed_error(
mount_enc_position=np.array([1, 10, 10, 10], dtype=float),
target_enc_position=np.array([2, 11, 90, -10], dtype=float),
no_cross_position=0)
assert_allclose(error, np.array([1, 1, 80, 340], dtype=float))
def test_vector(self):
error = smallest_allowed_error(
mount_enc_position=np.array([1, 2, 359], dtype=float),
target_enc_position=np.array([2, 1, 0], dtype=float),
)
assert_allclose(error, np.array([1, -1, 1]))
def test_wrapping(self):
error = smallest_allowed_error(mount_enc_position=359.0,
target_enc_position=0.0)
assert_allclose(error, 1.0)
def test_negative_error(self):
error = smallest_allowed_error(mount_enc_position=2.0,
target_enc_position=1.0)
assert_allclose(error, -1.0)