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view python/tests/extrapolation.txt @ 258:d90be3c02267
reasonably efficient computation of collision points and crossing zones
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Tue, 24 Jul 2012 12:37:47 -0400 |
parents | dc1faa7287bd |
children |
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>>> import extrapolation >>> import moving >>> et = extrapolation.ExtrapolatedTrajectoryConstant(moving.Point(0,0), moving.Point(1,0)) >>> et.predictPosition(4) # doctest:+ELLIPSIS (0.0...,4.0...) >>> et.predictPosition(1) # doctest:+ELLIPSIS (0.0...,1.0...) >>> et = extrapolation.ExtrapolatedTrajectoryConstant(moving.Point(0,0), moving.Point(1,0), moving.NormAngle(0.1,0), maxSpeed = 2) >>> et.predictPosition(10) # doctest:+ELLIPSIS (0.0...,15.5...) >>> et.predictPosition(11) # doctest:+ELLIPSIS (0.0...,17.5...) >>> et.predictPosition(12) # doctest:+ELLIPSIS (0.0...,19.5...) >>> import random >>> acceleration = lambda: random.uniform(-0.5,0.5) >>> steering = lambda: random.uniform(-0.1,0.1) >>> et = extrapolation.ExtrapolatedTrajectoryNormalAdaptation(moving.Point(0,0),moving.Point(1,1), acceleration, steering, maxSpeed = 2) >>> p = et.predictPosition(500) >>> from numpy import max >>> max(et.getPredictedSpeeds()) <= 2. True