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comparison python/tests/extrapolation.txt @ 256:dc1faa7287bd

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added the normal adaptation class
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 24 Jul 2012 01:37:21 -0400
parents 13ec22bec5d4
children
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255:13ec22bec5d4 256:dc1faa7287bd
4 >>> et = extrapolation.ExtrapolatedTrajectoryConstant(moving.Point(0,0), moving.Point(1,0)) 4 >>> et = extrapolation.ExtrapolatedTrajectoryConstant(moving.Point(0,0), moving.Point(1,0))
5 >>> et.predictPosition(4) # doctest:+ELLIPSIS 5 >>> et.predictPosition(4) # doctest:+ELLIPSIS
6 (0.0...,4.0...) 6 (0.0...,4.0...)
7 >>> et.predictPosition(1) # doctest:+ELLIPSIS 7 >>> et.predictPosition(1) # doctest:+ELLIPSIS
8 (0.0...,1.0...) 8 (0.0...,1.0...)
9
10 >>> et = extrapolation.ExtrapolatedTrajectoryConstant(moving.Point(0,0), moving.Point(1,0), moving.NormAngle(0.1,0), maxSpeed = 2)
11 >>> et.predictPosition(10) # doctest:+ELLIPSIS
12 (0.0...,15.5...)
13 >>> et.predictPosition(11) # doctest:+ELLIPSIS
14 (0.0...,17.5...)
15 >>> et.predictPosition(12) # doctest:+ELLIPSIS
16 (0.0...,19.5...)
17
18 >>> import random
19 >>> acceleration = lambda: random.uniform(-0.5,0.5)
20 >>> steering = lambda: random.uniform(-0.1,0.1)
21 >>> et = extrapolation.ExtrapolatedTrajectoryNormalAdaptation(moving.Point(0,0),moving.Point(1,1), acceleration, steering, maxSpeed = 2)
22 >>> p = et.predictPosition(500)
23 >>> from numpy import max
24 >>> max(et.getPredictedSpeeds()) <= 2.
25 True