python/test/trajbell.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.trajbell()
  13 traj.gen(3, 2, 3, 0, 10)
  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 j = traj.jer(x)
  25
  26 for i in range(N):
  27     print("%g,%g,%g,%g,%g" % (x[i], p[i], v[i], a[i], j[i]))
  28
  29 traj.t
  30 traj.tv
  31 traj.ta
  32 traj.td
  33 traj.taj
  34 traj.tdj
  35 traj.p0
  36 traj.p1
  37 traj.v0
  38 traj.v1
  39 traj.vm
  40 traj.jm
  41 traj.am
  42 traj.dm