python/test/trajpoly3.py

   1 #!/usr/bin/env python
   2 import os, sys
   3
   4 sys.path.insert(0, os.getcwd())
   5 if len(sys.argv) > 1:
   6     sys.stdout = open(sys.argv[1], "w")
   7
   8 import liba  # type: ignore
   9
  10 t = (0, 1)
  11 p = (0, 1)
  12 v = (0, 1)
  13 traj = liba.trajpoly3(t[1] - t[0], p[0], p[1], v[0], v[1])
  14
  15 N = 1000
  16 x = [0.0] * N
  17 T = (t[1] - t[0]) / N
  18 for i in range(N):
  19     x[i] = i * T
  20
  21 p = traj.pos(x)
  22 v = traj.vel(x)
  23 a = traj.acc(x)
  24
  25 for i in range(N):
  26     print("%g,%g,%g,%g" % (x[i], p[i], v[i], a[i]))
  27
  28 traj.p
  29 traj.v
  30 traj.a