python/test/traptraj.py

   1 #!/usr/bin/env python
   2 import os, sys
   3
   4 sys.path.insert(0, os.getcwd())
   5 prefix = os.path.join(sys.path[0], "build")
   6 if not os.path.exists(prefix):
   7     os.mkdir(prefix)
   8 try:
   9     import liba as a
  10     import numpy as np
  11     import matplotlib.pyplot as plt
  12 except Exception as e:
  13     print(e)
  14     exit()
  15
  16 traj = a.traptraj(10, 2, 2, -2)
  17 data = np.arange(0, traj.t, 0.01)
  18 plt.figure("trapezoidal velocity profile trajectory")
  19
  20 plt.subplot(311)
  21 plt.title("trapezoidal velocity profile trajectory")
  22 plt.ylabel("Position")
  23 plt.plot(data, traj.pos(data), "r-", label="q")
  24 plt.legend()
  25
  26 plt.subplot(312)
  27 plt.ylabel("Velocity")
  28 plt.plot(data, traj.vel(data), "b-", label="v")
  29 plt.legend()
  30
  31 plt.subplot(313)
  32 plt.ylabel("Acceleration")
  33 plt.plot(data, traj.acc(data), "g-", label="a")
  34 plt.legend()
  35
  36 plt.xlabel("t")
  37 plt.savefig(os.path.join(prefix, "trapezoidal_trajectory.png"))