python/test/trajpoly7.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 t = (0, 1)
  14 p = (0, 1)
  15 v = (0, 1)
  16 traj = liba.trajpoly7(t[1] - t[0], p[0], p[1], v[0], v[1])
  17
  18 N = 1000
  19 T = (t[1] - t[0]) / N
  20 x = liba.new_float(N)
  21 for i in range(N):
  22     x[i] = i * T
  23
  24 p = traj.pos(x)
  25 v = traj.vel(x)
  26 a = traj.acc(x)
  27 j = traj.jer(x)
  28
  29 for i in range(N):
  30     print("%g,%g,%g,%g,%g" % (x[i], p[i], v[i], a[i], j[i]))
  31
  32 traj.p
  33 traj.v
  34 traj.a
  35 traj.j