python/test/3rd/trajpoly3.py

   1 #!/usr/bin/env python
   2 import os, sys
   3
   4 base = os.path.dirname(__file__)
   5 path = os.path.dirname(base)
   6 path = os.path.dirname(path)
   7 sys.path.insert(0, path)
   8 try:
   9     import numpy as np
  10     import matplotlib.pyplot as plt
  11 except Exception as e:
  12     print(e)
  13     exit()
  14
  15 import liba  # type: ignore
  16
  17 t = (0, 1)
  18 p = (0, 1)
  19 v = (0, 1)
  20 traj = liba.trajpoly3(t[1] - t[0], p[0], p[1], v[0], v[1])
  21 data = np.arange(t[0], t[1], (t[1] - t[0]) / 1000)
  22
  23 text_p = "p="
  24 if traj.p[0]:
  25     text_p += "%g" % (traj.p[0])
  26 if traj.p[1]:
  27     text_p += "%+g%s" % (traj.p[1], "t")
  28 if traj.p[2]:
  29     text_p += "%+g%s" % (traj.p[2], "t^2")
  30 if traj.p[3]:
  31     text_p += "%+g%s" % (traj.p[3], "t^3")
  32 text_p = text_p.replace("=+", "=")
  33
  34 text_v = "v="
  35 if traj.v[0]:
  36     text_v += "%g" % (traj.v[0])
  37 if traj.v[1]:
  38     text_v += "%+g%s" % (traj.v[1], "t")
  39 if traj.v[2]:
  40     text_v += "%+g%s" % (traj.v[2], "t^2")
  41 text_v = text_v.replace("=+", "=")
  42
  43 text_a = "a="
  44 if traj.a[0]:
  45     text_a += "%g" % (traj.a[0])
  46 if traj.a[1]:
  47     text_a += "%+g%s" % (traj.a[1], "t")
  48 text_a = text_a.replace("=+", "=")
  49
  50 plt.figure("3 polynomial trajectory")
  51
  52 plt.subplot(311)
  53 plt.title("cubic polynomial trajectory")
  54 plt.ylabel("Position")
  55 plt.plot(data, np.array(traj.pos(data), copy=False), "r-", label=text_p)
  56 plt.legend()
  57
  58 plt.subplot(312)
  59 plt.ylabel("Velocity")
  60 plt.plot(data, np.array(traj.vel(data), copy=False), "b-", label=text_v)
  61 plt.legend()
  62
  63 plt.subplot(313)
  64 plt.ylabel("Acceleration")
  65 plt.plot(data, np.array(traj.acc(data), copy=False), "g-", label=text_a)
  66 plt.legend()
  67
  68 plt.xlabel("t")
  69 plt.savefig(os.path.join(base, "trajectory_polynomial_3.png"))
  70 plt.show()