python/test/trajbell.py

   1 #!/usr/bin/env python
   2 import os, sys
   3
   4 sys.path.insert(0, os.getcwd())
   5 if len(sys.argv) > 1:
   6     sys.stdout = open(sys.argv[1], "w")
   7
   8 import liba  # type: ignore
   9
  10 traj = liba.trajbell()
  11 traj.gen(3, 2, 3, 0, 10)
  12
  13 N = 1000
  14 x = [0.0] * N
  15 T = traj.t / N
  16 for i in range(N):
  17     x[i] = i * T
  18
  19 p = traj.pos(x)
  20 v = traj.vel(x)
  21 a = traj.acc(x)
  22 j = traj.jer(x)
  23
  24 for i in range(N):
  25     print("%g,%g,%g,%g,%g" % (x[i], p[i], v[i], a[i], j[i]))
  26
  27 traj.t
  28 traj.tv
  29 traj.ta
  30 traj.td
  31 traj.taj
  32 traj.tdj
  33 traj.p0
  34 traj.p1
  35 traj.v0
  36 traj.v1
  37 traj.vm
  38 traj.jm
  39 traj.am
  40 traj.dm