python/test/trajbell.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.trajbell()
  17 traj.gen(3, 2, 3, 0, 10)
  18 data = np.arange(0, traj.t, 0.01)
  19 plt.figure("bell-shaped velocity trajectory")
  20
  21 plt.subplot(411)
  22 plt.title("bell-shaped velocity trajectory")
  23 plt.ylabel("Position")
  24 plt.plot(data, traj.pos(data), "r-", label="q")
  25 plt.legend()
  26
  27 plt.subplot(412)
  28 plt.ylabel("Velocity")
  29 plt.plot(data, traj.vel(data), "b-", label="v")
  30 plt.legend()
  31
  32 plt.subplot(413)
  33 plt.ylabel("Acceleration")
  34 plt.plot(data, traj.acc(data), "g-", label="a")
  35 plt.legend()
  36
  37 plt.subplot(414)
  38 plt.ylabel("Jerk")
  39 plt.plot(data, traj.jer(data), "k-", label="j")
  40 plt.legend()
  41
  42 plt.xlabel("t")
  43 plt.savefig(os.path.join(prefix, "bell-shaped_trajectory.png"))