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* Start bspline code and doc cluean up * code clean up * code clean up * code clean up * code clean up * improve doc * improve doc * improve doc * improve doc * improve doc * improve doc * improve doc * improve doc * improve codes. * improve codes. * improve codes.
75 lines
2.5 KiB
Python
75 lines
2.5 KiB
Python
import conftest
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import numpy as np
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import pytest
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from PathPlanning.BSplinePath import bspline_path
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def test_list_input():
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way_point_x = [-1.0, 3.0, 4.0, 2.0, 1.0]
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way_point_y = [0.0, -3.0, 1.0, 1.0, 3.0]
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n_course_point = 50 # sampling number
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rax, ray, heading, curvature = bspline_path.approximate_b_spline_path(
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way_point_x, way_point_y, n_course_point, s=0.5)
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assert len(rax) == len(ray) == len(heading) == len(curvature)
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rix, riy, heading, curvature = bspline_path.interpolate_b_spline_path(
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way_point_x, way_point_y, n_course_point)
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assert len(rix) == len(riy) == len(heading) == len(curvature)
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def test_array_input():
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way_point_x = np.array([-1.0, 3.0, 4.0, 2.0, 1.0])
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way_point_y = np.array([0.0, -3.0, 1.0, 1.0, 3.0])
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n_course_point = 50 # sampling number
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rax, ray, heading, curvature = bspline_path.approximate_b_spline_path(
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way_point_x, way_point_y, n_course_point, s=0.5)
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assert len(rax) == len(ray) == len(heading) == len(curvature)
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rix, riy, heading, curvature = bspline_path.interpolate_b_spline_path(
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way_point_x, way_point_y, n_course_point)
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assert len(rix) == len(riy) == len(heading) == len(curvature)
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def test_degree_change():
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way_point_x = np.array([-1.0, 3.0, 4.0, 2.0, 1.0])
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way_point_y = np.array([0.0, -3.0, 1.0, 1.0, 3.0])
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n_course_point = 50 # sampling number
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rax, ray, heading, curvature = bspline_path.approximate_b_spline_path(
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way_point_x, way_point_y, n_course_point, s=0.5, degree=4)
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assert len(rax) == len(ray) == len(heading) == len(curvature)
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rix, riy, heading, curvature = bspline_path.interpolate_b_spline_path(
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way_point_x, way_point_y, n_course_point, degree=4)
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assert len(rix) == len(riy) == len(heading) == len(curvature)
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rax, ray, heading, curvature = bspline_path.approximate_b_spline_path(
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way_point_x, way_point_y, n_course_point, s=0.5, degree=2)
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assert len(rax) == len(ray) == len(heading) == len(curvature)
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rix, riy, heading, curvature = bspline_path.interpolate_b_spline_path(
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way_point_x, way_point_y, n_course_point, degree=2)
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assert len(rix) == len(riy) == len(heading) == len(curvature)
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with pytest.raises(ValueError):
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bspline_path.approximate_b_spline_path(
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way_point_x, way_point_y, n_course_point, s=0.5, degree=1)
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with pytest.raises(ValueError):
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bspline_path.interpolate_b_spline_path(
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way_point_x, way_point_y, n_course_point, degree=1)
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if __name__ == '__main__':
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conftest.run_this_test(__file__)
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