from spline import bezier, bezier6, polynom, exact_cubic, curve_constraints, spline_deriv_constraint

from numpy import matrix
from numpy.linalg import norm

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.])

#testing bezier curve
a = bezier6(waypoints6)
a = bezier(waypoints, -1., 3.)

assert(a.degree == a.nbWaypoints -1)
a.min()
a.max()
a(0.4)
assert((a.derivate(0.4,0) == a(0.4)).all())
a.derivate(0.4,2)
a = a.compute_derivate(100)

prim = a.compute_primitive(1)

for i in range(10):
	t = float(i) / 10.
	assert(a(t) == prim.derivate(t,1)).all()
assert(prim(0) == matrix([0.,0.,0.])).all()

prim = a.compute_primitive(2)
for i in range(10):
	t = float(i) / 10.
	assert(a(t) == prim.derivate(t,2)).all()
assert(prim(0) == matrix([0.,0.,0.])).all()


#testing bezier with constraints
c = curve_constraints();
c.init_vel = matrix([0.,1.,1.]);
c.end_vel  = matrix([0.,1.,1.]);
c.init_acc = matrix([0.,1.,-1.]);
c.end_acc  = matrix([0.,100.,1.]);


a = bezier(waypoints,c)
assert norm(a.derivate(0,1) - c.init_vel) < 1e-10
assert norm(a.derivate(1,2) - c.end_acc) < 1e-10


#testing polynom function
a = polynom(waypoints)
a = polynom(waypoints, -1., 3.)
a.min()
a.max()
a(0.4)
assert((a.derivate(0.4,0) == a(0.4)).all())
a.derivate(0.4,2)

#testing exact_cubic function
a = exact_cubic(waypoints, time_waypoints)
a.min()
a.max()
a(0.4)
assert((a.derivate(0.4,0) == a(0.4)).all())
a.derivate(0.4,2)

#testing spline_deriv_constraints
c = curve_constraints();
c.init_vel; 
c.end_vel;
c.init_acc;
c.end_acc;


c.init_vel = matrix([0.,1.,1.]);
c.end_vel  = matrix([0.,1.,1.]);
c.init_acc = matrix([0.,1.,1.]);
c.end_acc  = matrix([0.,1.,1.]);

a = spline_deriv_constraint (waypoints, time_waypoints)
a = spline_deriv_constraint (waypoints, time_waypoints, c)