Commit 1e56dc47 by Guilhem Saurel

### [Python][Test] fix rewritting

parent b75b6ed2
 ... ... @@ -10,9 +10,9 @@ from hpp_spline import bezier, bezier6, curve_constraints, exact_cubic, from_bez class TestSpline(unittest.TestCase): def test_spline(self): waypoints = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose() waypoints6 = matrix([[1., 2., 3., 7., 5., 5.], [4., 5., 6., 4., 5., 6.]]).transpose() time_waypoints = matrix([0., 1.]).transpose() waypoints = matrix([[1., 2., 3.], [4., 5., 6.]]).T waypoints6 = matrix([[1., 2., 3., 7., 5., 5.], [4., 5., 6., 4., 5., 6.]]).T time_waypoints = matrix([0., 1.]).T # testing bezier curve a = bezier6(waypoints6) ... ... @@ -39,7 +39,7 @@ class TestSpline(unittest.TestCase): self.assertTrue((a(t) == prim.derivate(t, 2)).all()) self.assertTrue((prim(0) == matrix([0., 0., 0.])).all()) waypoints = matrix([[1., 2., 3.], [4., 5., 6.], [4., 5., 6.], [4., 5., 6.], [4., 5., 6.]]).transpose() waypoints = matrix([[1., 2., 3.], [4., 5., 6.], [4., 5., 6.], [4., 5., 6.], [4., 5., 6.]]).T a0 = bezier(waypoints) a1 = bezier(waypoints, 3.) prim0 = a0.compute_primitive(1) ... ... @@ -47,23 +47,23 @@ class TestSpline(unittest.TestCase): for i in range(10): t = float(i) / 10. self.assertAlmostEqual(norm(a0(t), a1(3 * t))) self.assertAlmostEqual(norm(a0.derivate(t, 1), a1.derivate(3 * t, 1) * 3.)) self.assertAlmostEqual(norm(a0.derivate(t, 2), a1.derivate(3 * t, 2) * 9.)) self.assertAlmostEqual(norm(prim0(t), prim1(t * 3) / 3.)) self.assertTrue((prim(0) == matrix([0., 0., 0.])).all()) self.assertAlmostEqual(norm(a0(t) - a1(3 * t)), 0) self.assertAlmostEqual(norm(a0.derivate(t, 1) - a1.derivate(3 * t, 1) * 3.), 0) self.assertAlmostEqual(norm(a0.derivate(t, 2) - a1.derivate(3 * t, 2) * 9.), 0) self.assertAlmostEqual(norm(prim0(t) - prim1(t * 3) / 3.), 0) self.assertTrue((prim(0) == matrix([0., 0., 0.]).T).all()) # testing bezier with constraints c = curve_constraints() c.init_vel = matrix([0., 1., 1.]).transpose() c.end_vel = matrix([0., 1., 1.]).transpose() c.init_acc = matrix([0., 1., -1.]).transpose() c.end_acc = matrix([0., 100., 1.]).transpose() c.init_vel = matrix([0., 1., 1.]).T c.end_vel = matrix([0., 1., 1.]).T c.init_acc = matrix([0., 1., -1.]).T c.end_acc = matrix([0., 100., 1.]).T waypoints = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose() waypoints = matrix([[1., 2., 3.], [4., 5., 6.]]).T a = bezier(waypoints, c) self.assertAlmostEqual(norm(a.derivate(0, 1), c.init_vel)) self.assertAlmostEqual(norm(a.derivate(1, 2), c.end_acc)) self.assertAlmostEqual(norm(a.derivate(0, 1) - c.init_vel), 0) self.assertAlmostEqual(norm(a.derivate(1, 2) - c.end_acc), 0) # testing polynom function a = polynom(waypoints) ... ... @@ -89,10 +89,10 @@ class TestSpline(unittest.TestCase): c.init_acc c.end_acc c.init_vel = matrix([0., 1., 1.]).transpose() c.end_vel = matrix([0., 1., 1.]).transpose() c.init_acc = matrix([0., 1., 1.]).transpose() c.end_acc = matrix([0., 1., 1.]).transpose() c.init_vel = matrix([0., 1., 1.]).T c.end_vel = matrix([0., 1., 1.]).T c.init_acc = matrix([0., 1., 1.]).T c.end_acc = matrix([0., 1., 1.]).T a = spline_deriv_constraint(waypoints, time_waypoints) a = spline_deriv_constraint(waypoints, time_waypoints, c) ... ... @@ -101,7 +101,7 @@ class TestSpline(unittest.TestCase): a = bezier(waypoints) a_pol = from_bezier(a) self.assertAlmostEqual(norm(a(0.3), a_pol(0.3))) self.assertAlmostEqual(norm(a(0.3) - a_pol(0.3)), 0) if __name__ == '__main__': ... ...
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