python/test/trajtrap.py

   1 #!/usr/bin/env python
   2 import os, sys
   3
   4 base = os.path.dirname(__file__)
   5 path = os.path.dirname(base)
   6 sys.path.insert(0, path)
   7 if len(sys.argv) > 1:
   8     sys.stdout = open(sys.argv[1], "w")
   9
  10 import liba  # type: ignore
  11
  12 traj = liba.trajtrap()
  13 traj.gen(2, 2, -2, 0, 4)
  14
  15 N = 1000
  16 x = [0.0] * N
  17 T = traj.t / 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.t
  29 traj.p0
  30 traj.p1
  31 traj.v0
  32 traj.v1
  33 traj.vc
  34 traj.ta
  35 traj.td
  36 traj.pa
  37 traj.pd
  38 traj.ac
  39 traj.de