tests/test_bspline_path.py · 张三/PythonRobotics

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tests

test_bspline_path.py

test_bspline_path.py 2.54 KB

import conftest
import numpy as np
import pytest
from PathPlanning.BSplinePath import bspline_path

def test_list_input():
 way_point_x = [-1.0, 3.0, 4.0, 2.0, 1.0]
 way_point_y = [0.0, -3.0, 1.0, 1.0, 3.0]
 n_course_point = 50 # sampling number

rax, ray, heading, curvature = bspline_path.approximate_b_spline_path(
 way_point_x, way_point_y, n_course_point, s=0.5)

assert len(rax) == len(ray) == len(heading) == len(curvature)

rix, riy, heading, curvature = bspline_path.interpolate_b_spline_path(
 way_point_x, way_point_y, n_course_point)

assert len(rix) == len(riy) == len(heading) == len(curvature)

def test_array_input():
 way_point_x = np.array([-1.0, 3.0, 4.0, 2.0, 1.0])
 way_point_y = np.array([0.0, -3.0, 1.0, 1.0, 3.0])
 n_course_point = 50 # sampling number

rax, ray, heading, curvature = bspline_path.approximate_b_spline_path(
 way_point_x, way_point_y, n_course_point, s=0.5)

assert len(rax) == len(ray) == len(heading) == len(curvature)

rix, riy, heading, curvature = bspline_path.interpolate_b_spline_path(
 way_point_x, way_point_y, n_course_point)

assert len(rix) == len(riy) == len(heading) == len(curvature)

def test_degree_change():
 way_point_x = np.array([-1.0, 3.0, 4.0, 2.0, 1.0])
 way_point_y = np.array([0.0, -3.0, 1.0, 1.0, 3.0])
 n_course_point = 50 # sampling number

rax, ray, heading, curvature = bspline_path.approximate_b_spline_path(
 way_point_x, way_point_y, n_course_point, s=0.5, degree=4)

assert len(rax) == len(ray) == len(heading) == len(curvature)

rix, riy, heading, curvature = bspline_path.interpolate_b_spline_path(
 way_point_x, way_point_y, n_course_point, degree=4)

assert len(rix) == len(riy) == len(heading) == len(curvature)

rax, ray, heading, curvature = bspline_path.approximate_b_spline_path(
 way_point_x, way_point_y, n_course_point, s=0.5, degree=2)

assert len(rax) == len(ray) == len(heading) == len(curvature)

rix, riy, heading, curvature = bspline_path.interpolate_b_spline_path(
 way_point_x, way_point_y, n_course_point, degree=2)

assert len(rix) == len(riy) == len(heading) == len(curvature)

with pytest.raises(ValueError):
 bspline_path.approximate_b_spline_path(
 way_point_x, way_point_y, n_course_point, s=0.5, degree=1)

with pytest.raises(ValueError):
 bspline_path.interpolate_b_spline_path(
 way_point_x, way_point_y, n_course_point, degree=1)

if __name__ == '__main__':
 conftest.run_this_test(__file__)

一键复制编辑原始数据按行查看历史

Atsushi Sakai 提交于 2022年09月27日 20:49 +08:00 . Enhance bspline code and doc clean up (#720)

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import conftest
import numpy as np
import pytest
from PathPlanning.BSplinePath import bspline_path


def test_list_input():
 way_point_x = [-1.0, 3.0, 4.0, 2.0, 1.0]
 way_point_y = [0.0, -3.0, 1.0, 1.0, 3.0]
 n_course_point = 50 # sampling number

 rax, ray, heading, curvature = bspline_path.approximate_b_spline_path(
 way_point_x, way_point_y, n_course_point, s=0.5)

 assert len(rax) == len(ray) == len(heading) == len(curvature)

 rix, riy, heading, curvature = bspline_path.interpolate_b_spline_path(
 way_point_x, way_point_y, n_course_point)

 assert len(rix) == len(riy) == len(heading) == len(curvature)


def test_array_input():
 way_point_x = np.array([-1.0, 3.0, 4.0, 2.0, 1.0])
 way_point_y = np.array([0.0, -3.0, 1.0, 1.0, 3.0])
 n_course_point = 50 # sampling number

 rax, ray, heading, curvature = bspline_path.approximate_b_spline_path(
 way_point_x, way_point_y, n_course_point, s=0.5)

 assert len(rax) == len(ray) == len(heading) == len(curvature)

 rix, riy, heading, curvature = bspline_path.interpolate_b_spline_path(
 way_point_x, way_point_y, n_course_point)

 assert len(rix) == len(riy) == len(heading) == len(curvature)


def test_degree_change():
 way_point_x = np.array([-1.0, 3.0, 4.0, 2.0, 1.0])
 way_point_y = np.array([0.0, -3.0, 1.0, 1.0, 3.0])
 n_course_point = 50 # sampling number

 rax, ray, heading, curvature = bspline_path.approximate_b_spline_path(
 way_point_x, way_point_y, n_course_point, s=0.5, degree=4)

 assert len(rax) == len(ray) == len(heading) == len(curvature)

 rix, riy, heading, curvature = bspline_path.interpolate_b_spline_path(
 way_point_x, way_point_y, n_course_point, degree=4)

 assert len(rix) == len(riy) == len(heading) == len(curvature)

 rax, ray, heading, curvature = bspline_path.approximate_b_spline_path(
 way_point_x, way_point_y, n_course_point, s=0.5, degree=2)

 assert len(rax) == len(ray) == len(heading) == len(curvature)

 rix, riy, heading, curvature = bspline_path.interpolate_b_spline_path(
 way_point_x, way_point_y, n_course_point, degree=2)

 assert len(rix) == len(riy) == len(heading) == len(curvature)

 with pytest.raises(ValueError):
 bspline_path.approximate_b_spline_path(
 way_point_x, way_point_y, n_course_point, s=0.5, degree=1)

 with pytest.raises(ValueError):
 bspline_path.interpolate_b_spline_path(
 way_point_x, way_point_y, n_course_point, degree=1)


if __name__ == '__main__':
 conftest.run_this_test(__file__)