python/test/trajbell.py

   1 #!/usr/bin/env python
   2 from __future__ import print_function
   3 import os, sys
   4
   5 path = os.path.dirname(__file__)
   6 path = os.path.dirname(path)
   7 sys.path.insert(0, path)
   8 if len(sys.argv) > 1:
   9     sys.stdout = open(sys.argv[1], "w")
  10
  11 import liba  # type: ignore
  12
  13 traj = liba.trajbell()
  14 traj.gen(3, 2, 3, 0, 10)
  15
  16 N = 1000
  17 T = traj.t / N
  18 x = liba.new_num(N)
  19 for i in range(N):
  20     x[i] = i * T
  21
  22 p = traj.pos(x)
  23 v = traj.vel(x)
  24 a = traj.acc(x)
  25 j = traj.jer(x)
  26
  27 for i in range(N):
  28     print("%g,%g,%g,%g,%g" % (x[i], p[i], v[i], a[i], j[i]))
  29
  30 traj.t
  31 traj.tv
  32 traj.ta
  33 traj.td
  34 traj.taj
  35 traj.tdj
  36 traj.p0
  37 traj.p1
  38 traj.v0
  39 traj.v1
  40 traj.vm
  41 traj.jm
  42 traj.am
  43 traj.dm