Commit 1e56dc47 authored by Guilhem Saurel's avatar 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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