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test/CMakeLists.txt Normal file
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if (CATKIN_ENABLE_TESTING)
catkin_add_gtest(utest utest.cpp)
catkin_add_nosetests(utest.py)
endif (CATKIN_ENABLE_TESTING)

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test/utest.cpp Normal file
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#include "angles/angles.h"
#include <gtest/gtest.h>
using namespace angles;
TEST(Angles, shortestDistanceWithLimits){
double shortest_angle;
bool result = angles::shortest_angular_distance_with_limits(-0.5, 0.5,-0.25,0.25,shortest_angle);
EXPECT_FALSE(result);
result = angles::shortest_angular_distance_with_limits(-0.5, 0.5,0.25,0.25,shortest_angle);
EXPECT_FALSE(result);
result = angles::shortest_angular_distance_with_limits(-0.5, 0.5,0.25,-0.25,shortest_angle);
EXPECT_TRUE(result);
EXPECT_NEAR(shortest_angle, -2*M_PI+1.0,1e-6);
result = angles::shortest_angular_distance_with_limits(0.5, 0.5,0.25,-0.25,shortest_angle);
EXPECT_TRUE(result);
EXPECT_NEAR(shortest_angle, 0,1e-6);
result = angles::shortest_angular_distance_with_limits(0.5, 0,0.25,-0.25,shortest_angle);
EXPECT_FALSE(result);
EXPECT_NEAR(shortest_angle, -0.5,1e-6);
result = angles::shortest_angular_distance_with_limits(-0.5, 0,0.25,-0.25,shortest_angle);
EXPECT_FALSE(result);
EXPECT_NEAR(shortest_angle, 0.5,1e-6);
result = angles::shortest_angular_distance_with_limits(-0.2,0.2,0.25,-0.25,shortest_angle);
EXPECT_FALSE(result);
EXPECT_NEAR(shortest_angle, -2*M_PI+0.4,1e-6);
result = angles::shortest_angular_distance_with_limits(0.2,-0.2,0.25,-0.25,shortest_angle);
EXPECT_FALSE(result);
EXPECT_NEAR(shortest_angle,2*M_PI-0.4,1e-6);
result = angles::shortest_angular_distance_with_limits(0.2,0,0.25,-0.25,shortest_angle);
EXPECT_FALSE(result);
EXPECT_NEAR(shortest_angle,2*M_PI-0.2,1e-6);
result = angles::shortest_angular_distance_with_limits(-0.2,0,0.25,-0.25,shortest_angle);
EXPECT_FALSE(result);
EXPECT_NEAR(shortest_angle,-2*M_PI+0.2,1e-6);
result = angles::shortest_angular_distance_with_limits(-0.25,-0.5,0.25,-0.25,shortest_angle);
EXPECT_TRUE(result);
EXPECT_NEAR(shortest_angle,-0.25,1e-6);
result = angles::shortest_angular_distance_with_limits(-0.25,0.5,0.25,-0.25,shortest_angle);
EXPECT_TRUE(result);
EXPECT_NEAR(shortest_angle,-2*M_PI+0.75,1e-6);
result = angles::shortest_angular_distance_with_limits(-0.2500001,0.5,0.25,-0.25,shortest_angle);
EXPECT_TRUE(result);
EXPECT_NEAR(shortest_angle,-2*M_PI+0.5+0.2500001,1e-6);
result = angles::shortest_angular_distance_with_limits(-0.6, 0.5,-0.25,0.25,shortest_angle);
EXPECT_FALSE(result);
result = angles::shortest_angular_distance_with_limits(-0.5, 0.6,-0.25,0.25,shortest_angle);
EXPECT_FALSE(result);
result = angles::shortest_angular_distance_with_limits(-0.6, 0.75,-0.25,0.3,shortest_angle);
EXPECT_FALSE(result);
result = angles::shortest_angular_distance_with_limits(-0.6, M_PI*3.0/4.0,-0.25,0.3,shortest_angle);
EXPECT_FALSE(result);
result = angles::shortest_angular_distance_with_limits(-M_PI, M_PI,-M_PI,M_PI,shortest_angle);
EXPECT_TRUE(result);
EXPECT_NEAR(shortest_angle,0.0,1e-6);
}
TEST(Angles, shortestDistanceWithLargeLimits)
{
double shortest_angle;
bool result;
// 'delta' is valid
result = angles::shortest_angular_distance_with_large_limits(0, 10.5*M_PI, -2*M_PI, 2*M_PI, shortest_angle);
EXPECT_TRUE(result);
EXPECT_NEAR(shortest_angle, 0.5*M_PI, 1e-6);
// 'delta' is not valid, but 'delta_2pi' is
result = angles::shortest_angular_distance_with_large_limits(0, 10.5*M_PI, -2*M_PI, 0.1*M_PI, shortest_angle);
EXPECT_TRUE(result);
EXPECT_NEAR(shortest_angle, -1.5*M_PI, 1e-6);
// neither 'delta' nor 'delta_2pi' are valid
result = angles::shortest_angular_distance_with_large_limits(2*M_PI, M_PI, 2*M_PI-0.1, 2*M_PI+0.1, shortest_angle);
EXPECT_FALSE(result);
// start position outside limits
result = angles::shortest_angular_distance_with_large_limits(10.5*M_PI, 0, -2*M_PI, 2*M_PI, shortest_angle);
EXPECT_FALSE(result);
// invalid limits (lower > upper)
result = angles::shortest_angular_distance_with_large_limits(0, 0.1, 2*M_PI, -2*M_PI, shortest_angle);
EXPECT_FALSE(result);
// specific test case
result = angles::shortest_angular_distance_with_large_limits(0.999507, 1.0, -20*M_PI, 20*M_PI, shortest_angle);
EXPECT_TRUE(result);
EXPECT_NEAR(shortest_angle, 0.000493, 1e-6);
}
TEST(Angles, from_degrees)
{
double epsilon = 1e-9;
EXPECT_NEAR(0, from_degrees(0), epsilon);
EXPECT_NEAR(M_PI/2, from_degrees(90), epsilon);
EXPECT_NEAR(M_PI, from_degrees(180), epsilon);
EXPECT_NEAR(M_PI*3/2, from_degrees(270), epsilon);
EXPECT_NEAR(2*M_PI, from_degrees(360), epsilon);
EXPECT_NEAR(M_PI/3, from_degrees(60), epsilon);
EXPECT_NEAR(M_PI*2/3, from_degrees(120), epsilon);
EXPECT_NEAR(M_PI/4, from_degrees(45), epsilon);
EXPECT_NEAR(M_PI*3/4, from_degrees(135), epsilon);
EXPECT_NEAR(M_PI/6, from_degrees(30), epsilon);
}
TEST(Angles, to_degrees)
{
double epsilon = 1e-9;
EXPECT_NEAR(to_degrees(0), 0, epsilon);
EXPECT_NEAR(to_degrees(M_PI/2), 90, epsilon);
EXPECT_NEAR(to_degrees(M_PI), 180, epsilon);
EXPECT_NEAR(to_degrees(M_PI*3/2), 270, epsilon);
EXPECT_NEAR(to_degrees(2*M_PI), 360, epsilon);
EXPECT_NEAR(to_degrees(M_PI/3), 60, epsilon);
EXPECT_NEAR(to_degrees(M_PI*2/3), 120, epsilon);
EXPECT_NEAR(to_degrees(M_PI/4), 45, epsilon);
EXPECT_NEAR(to_degrees(M_PI*3/4), 135, epsilon);
EXPECT_NEAR(to_degrees(M_PI/6), 30, epsilon);
}
TEST(Angles, normalize_angle_positive)
{
double epsilon = 1e-9;
EXPECT_NEAR(0, normalize_angle_positive(0), epsilon);
EXPECT_NEAR(M_PI, normalize_angle_positive(M_PI), epsilon);
EXPECT_NEAR(0, normalize_angle_positive(2*M_PI), epsilon);
EXPECT_NEAR(M_PI, normalize_angle_positive(3*M_PI), epsilon);
EXPECT_NEAR(0, normalize_angle_positive(4*M_PI), epsilon);
EXPECT_NEAR(0, normalize_angle_positive(-0), epsilon);
EXPECT_NEAR(M_PI, normalize_angle_positive(-M_PI), epsilon);
EXPECT_NEAR(0, normalize_angle_positive(-2*M_PI), epsilon);
EXPECT_NEAR(M_PI, normalize_angle_positive(-3*M_PI), epsilon);
EXPECT_NEAR(0, normalize_angle_positive(-4*M_PI), epsilon);
EXPECT_NEAR(0, normalize_angle_positive(-0), epsilon);
EXPECT_NEAR(3*M_PI/2, normalize_angle_positive(-M_PI/2), epsilon);
EXPECT_NEAR(M_PI, normalize_angle_positive(-M_PI), epsilon);
EXPECT_NEAR(M_PI/2, normalize_angle_positive(-3*M_PI/2), epsilon);
EXPECT_NEAR(0, normalize_angle_positive(-4*M_PI/2), epsilon);
EXPECT_NEAR(0, normalize_angle_positive(0), epsilon);
EXPECT_NEAR(M_PI/2, normalize_angle_positive(M_PI/2), epsilon);
EXPECT_NEAR(M_PI/2, normalize_angle_positive(5*M_PI/2), epsilon);
EXPECT_NEAR(M_PI/2, normalize_angle_positive(9*M_PI/2), epsilon);
EXPECT_NEAR(M_PI/2, normalize_angle_positive(-3*M_PI/2), epsilon);
}
TEST(Angles, normalize_angle)
{
double epsilon = 1e-9;
EXPECT_NEAR(0, normalize_angle(0), epsilon);
EXPECT_NEAR(M_PI, normalize_angle(M_PI), epsilon);
EXPECT_NEAR(0, normalize_angle(2*M_PI), epsilon);
EXPECT_NEAR(M_PI, normalize_angle(3*M_PI), epsilon);
EXPECT_NEAR(0, normalize_angle(4*M_PI), epsilon);
EXPECT_NEAR(0, normalize_angle(-0), epsilon);
EXPECT_NEAR(M_PI, normalize_angle(-M_PI), epsilon);
EXPECT_NEAR(0, normalize_angle(-2*M_PI), epsilon);
EXPECT_NEAR(M_PI, normalize_angle(-3*M_PI), epsilon);
EXPECT_NEAR(0, normalize_angle(-4*M_PI), epsilon);
EXPECT_NEAR(0, normalize_angle(-0), epsilon);
EXPECT_NEAR(-M_PI/2, normalize_angle(-M_PI/2), epsilon);
EXPECT_NEAR(M_PI, normalize_angle(-M_PI), epsilon);
EXPECT_NEAR(M_PI/2, normalize_angle(-3*M_PI/2), epsilon);
EXPECT_NEAR(0, normalize_angle(-4*M_PI/2), epsilon);
EXPECT_NEAR(0, normalize_angle(0), epsilon);
EXPECT_NEAR(M_PI/2, normalize_angle(M_PI/2), epsilon);
EXPECT_NEAR(M_PI/2, normalize_angle(5*M_PI/2), epsilon);
EXPECT_NEAR(M_PI/2, normalize_angle(9*M_PI/2), epsilon);
EXPECT_NEAR(M_PI/2, normalize_angle(-3*M_PI/2), epsilon);
}
TEST(Angles, shortest_angular_distance)
{
double epsilon = 1e-9;
EXPECT_NEAR(M_PI/2, shortest_angular_distance(0, M_PI/2), epsilon);
EXPECT_NEAR(-M_PI/2, shortest_angular_distance(0, -M_PI/2), epsilon);
EXPECT_NEAR(-M_PI/2, shortest_angular_distance(M_PI/2, 0), epsilon);
EXPECT_NEAR(M_PI/2, shortest_angular_distance(-M_PI/2, 0), epsilon);
EXPECT_NEAR(-M_PI/2, shortest_angular_distance(M_PI, M_PI/2), epsilon);
EXPECT_NEAR(M_PI/2, shortest_angular_distance(M_PI, -M_PI/2), epsilon);
EXPECT_NEAR(M_PI/2, shortest_angular_distance(M_PI/2, M_PI), epsilon);
EXPECT_NEAR(-M_PI/2, shortest_angular_distance(-M_PI/2, M_PI), epsilon);
EXPECT_NEAR(-M_PI/2, shortest_angular_distance(5*M_PI, M_PI/2), epsilon);
EXPECT_NEAR(M_PI/2, shortest_angular_distance(7*M_PI, -M_PI/2), epsilon);
EXPECT_NEAR(M_PI/2, shortest_angular_distance(9*M_PI/2, M_PI), epsilon);
EXPECT_NEAR(M_PI/2, shortest_angular_distance(-3*M_PI/2, M_PI), epsilon);
// Backside wrapping
EXPECT_NEAR(-M_PI/2, shortest_angular_distance(-3*M_PI/4, 3*M_PI/4), epsilon);
EXPECT_NEAR(M_PI/2, shortest_angular_distance(3*M_PI/4, -3*M_PI/4), epsilon);
}
TEST(Angles, two_pi_complement)
{
double epsilon = 1e-9;
EXPECT_NEAR(two_pi_complement(0), 2*M_PI, epsilon);
EXPECT_NEAR(two_pi_complement(2*M_PI), 0, epsilon);
EXPECT_NEAR(two_pi_complement(-2*M_PI), 0, epsilon);
EXPECT_NEAR(two_pi_complement(2*M_PI-epsilon), -epsilon, epsilon);
EXPECT_NEAR(two_pi_complement(-2*M_PI+epsilon), epsilon, epsilon);
EXPECT_NEAR(two_pi_complement(M_PI/2), -3*M_PI/2, epsilon);
EXPECT_NEAR(two_pi_complement(M_PI), -M_PI, epsilon);
EXPECT_NEAR(two_pi_complement(-M_PI), M_PI, epsilon);
EXPECT_NEAR(two_pi_complement(-M_PI/2), 3*M_PI/2, epsilon);
EXPECT_NEAR(two_pi_complement(3*M_PI), -M_PI, epsilon);
EXPECT_NEAR(two_pi_complement(-3.0*M_PI), M_PI, epsilon);
EXPECT_NEAR(two_pi_complement(-5.0*M_PI/2.0), 3*M_PI/2, epsilon);
}
TEST(Angles, find_min_max_delta)
{
double epsilon = 1e-9;
double min_delta, max_delta;
// Straight forward full range
EXPECT_TRUE(find_min_max_delta( 0, -M_PI, M_PI, min_delta, max_delta));
EXPECT_NEAR(min_delta, -M_PI, epsilon);
EXPECT_NEAR(max_delta, M_PI, epsilon);
// M_PI/2 Full Range
EXPECT_TRUE(find_min_max_delta( M_PI/2, -M_PI, M_PI, min_delta, max_delta));
EXPECT_NEAR(min_delta, -3*M_PI/2, epsilon);
EXPECT_NEAR(max_delta, M_PI/2, epsilon);
// -M_PI/2 Full range
EXPECT_TRUE(find_min_max_delta( -M_PI/2, -M_PI, M_PI, min_delta, max_delta));
EXPECT_NEAR(min_delta, -M_PI/2, epsilon);
EXPECT_NEAR(max_delta, 3*M_PI/2, epsilon);
// Straight forward partial range
EXPECT_TRUE(find_min_max_delta( 0, -M_PI/2, M_PI/2, min_delta, max_delta));
EXPECT_NEAR(min_delta, -M_PI/2, epsilon);
EXPECT_NEAR(max_delta, M_PI/2, epsilon);
// M_PI/4 Partial Range
EXPECT_TRUE(find_min_max_delta( M_PI/4, -M_PI/2, M_PI/2, min_delta, max_delta));
EXPECT_NEAR(min_delta, -3*M_PI/4, epsilon);
EXPECT_NEAR(max_delta, M_PI/4, epsilon);
// -M_PI/4 Partial Range
EXPECT_TRUE(find_min_max_delta( -M_PI/4, -M_PI/2, M_PI/2, min_delta, max_delta));
EXPECT_NEAR(min_delta, -M_PI/4, epsilon);
EXPECT_NEAR(max_delta, 3*M_PI/4, epsilon);
// bump stop negative full range
EXPECT_TRUE(find_min_max_delta( -M_PI, -M_PI, M_PI, min_delta, max_delta));
EXPECT_TRUE((fabs(min_delta) <= epsilon && fabs(max_delta - 2*M_PI) <= epsilon) || (fabs(min_delta+2*M_PI) <= epsilon && fabs(max_delta) <= epsilon));
EXPECT_NEAR(min_delta, 0.0, epsilon);
EXPECT_NEAR(max_delta, 2*M_PI, epsilon);
EXPECT_TRUE(find_min_max_delta(-0.25,0.25,-0.25,min_delta, max_delta));
EXPECT_NEAR(min_delta, -2*M_PI+0.5, epsilon);
EXPECT_NEAR(max_delta, 0.0, epsilon);
// bump stop positive full range
EXPECT_TRUE(find_min_max_delta( M_PI-epsilon, -M_PI, M_PI, min_delta, max_delta));
//EXPECT_TRUE((fabs(min_delta) <= epsilon && fabs(max_delta - 2*M_PI) <= epsilon) || (fabs(min_delta+2*M_PI) <= epsilon && fabs(max_delta) <= epsilon));
EXPECT_NEAR(min_delta, -2*M_PI+epsilon, epsilon);
EXPECT_NEAR(max_delta, epsilon, epsilon);
// bump stop negative partial range
EXPECT_TRUE(find_min_max_delta( -M_PI, -M_PI, M_PI, min_delta, max_delta));
EXPECT_NEAR(min_delta, 0, epsilon);
EXPECT_NEAR(max_delta, 2*M_PI, epsilon);
// bump stop positive partial range
EXPECT_TRUE(find_min_max_delta( -M_PI/2, -M_PI/2, M_PI/2, min_delta, max_delta));
EXPECT_NEAR(min_delta, 0.0, epsilon);
EXPECT_NEAR(max_delta, M_PI, epsilon);
//Test out of range negative
EXPECT_FALSE(find_min_max_delta( -M_PI, -M_PI/2, M_PI/2, min_delta, max_delta));
//Test out of range postive
EXPECT_FALSE(find_min_max_delta( M_PI, -M_PI/2, M_PI/2, min_delta, max_delta));
// M_PI/4 Partial Range
EXPECT_TRUE(find_min_max_delta( 3*M_PI/4, M_PI/2, -M_PI/2, min_delta, max_delta));
EXPECT_NEAR(min_delta, -M_PI/4, epsilon);
EXPECT_NEAR(max_delta, 3*M_PI/4, epsilon);
}
int main(int argc, char **argv){
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}

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#!/usr/bin/env python
#*********************************************************************
# Software License Agreement (BSD License)
#
# Copyright (c) 2015, Bossa Nova Robotics
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of the Bossa Nova Robotics nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#********************************************************************/
from angles import normalize_angle_positive, normalize_angle, shortest_angular_distance, two_pi_complement, shortest_angular_distance_with_limits, shortest_angular_distance_with_large_limits
from angles import _find_min_max_delta
import sys
import unittest
from math import pi, fabs
## A sample python unit test
class TestAngles(unittest.TestCase):
def test_shortestDistanceWithLimits(self):
result, shortest_angle = shortest_angular_distance_with_limits(-0.5, 0.5,-0.25,0.25)
self.assertFalse(result)
result, shortest_angle = shortest_angular_distance_with_limits(-0.5, 0.5,0.25,0.25)
self.assertFalse(result)
result, shortest_angle = shortest_angular_distance_with_limits(-0.5, 0.5,0.25,-0.25)
self.assertTrue(result)
self.assertAlmostEqual(shortest_angle, -2*pi+1.0)
result, shortest_angle = shortest_angular_distance_with_limits(0.5, 0.5,0.25,-0.25)
self.assertTrue(result)
self.assertAlmostEqual(shortest_angle, 0)
result, shortest_angle = shortest_angular_distance_with_limits(0.5, 0,0.25,-0.25)
self.assertFalse(result)
self.assertAlmostEqual(shortest_angle, -0.5)
result, shortest_angle = shortest_angular_distance_with_limits(-0.5, 0,0.25,-0.25)
self.assertFalse(result)
self.assertAlmostEqual(shortest_angle, 0.5)
result, shortest_angle = shortest_angular_distance_with_limits(-0.2,0.2,0.25,-0.25)
self.assertFalse(result)
self.assertAlmostEqual(shortest_angle, -2*pi+0.4)
result, shortest_angle = shortest_angular_distance_with_limits(0.2,-0.2,0.25,-0.25)
self.assertFalse(result)
self.assertAlmostEqual(shortest_angle,2*pi-0.4)
result, shortest_angle = shortest_angular_distance_with_limits(0.2,0,0.25,-0.25)
self.assertFalse(result)
self.assertAlmostEqual(shortest_angle,2*pi-0.2)
result, shortest_angle = shortest_angular_distance_with_limits(-0.2,0,0.25,-0.25)
self.assertFalse(result)
self.assertAlmostEqual(shortest_angle,-2*pi+0.2)
result, shortest_angle = shortest_angular_distance_with_limits(-0.25,-0.5,0.25,-0.25)
self.assertTrue(result)
self.assertAlmostEqual(shortest_angle,-0.25)
result, shortest_angle = shortest_angular_distance_with_limits(-0.25,0.5,0.25,-0.25)
self.assertTrue(result)
self.assertAlmostEqual(shortest_angle,-2*pi+0.75)
result, shortest_angle = shortest_angular_distance_with_limits(-0.2500001,0.5,0.25,-0.25)
self.assertTrue(result)
self.assertAlmostEqual(shortest_angle,-2*pi+0.5+0.2500001)
result, shortest_angle = shortest_angular_distance_with_limits(-0.6, 0.5,-0.25,0.25)
self.assertFalse(result)
result, shortest_angle = shortest_angular_distance_with_limits(-0.5, 0.6,-0.25,0.25)
self.assertFalse(result)
result, shortest_angle = shortest_angular_distance_with_limits(-0.6, 0.75,-0.25,0.3)
self.assertFalse(result)
result, shortest_angle = shortest_angular_distance_with_limits(-0.6, pi*3.0/4.0,-0.25,0.3)
self.assertFalse(result)
result, shortest_angle = shortest_angular_distance_with_limits(-pi, pi,-pi,pi)
self.assertTrue(result)
self.assertAlmostEqual(shortest_angle,0.0)
def test_shortestDistanceWithLargeLimits(self):
# 'delta' is valid
result, shortest_angle = shortest_angular_distance_with_large_limits(0, 10.5*pi, -2*pi, 2*pi)
self.assertTrue(result)
self.assertAlmostEqual(shortest_angle, 0.5*pi)
# 'delta' is not valid, but 'delta_2pi' is
result, shortest_angle = shortest_angular_distance_with_large_limits(0, 10.5*pi, -2*pi, 0.1*pi)
self.assertTrue(result)
self.assertAlmostEqual(shortest_angle, -1.5*pi)
# neither 'delta' nor 'delta_2pi' are valid
result, shortest_angle = shortest_angular_distance_with_large_limits(2*pi, pi, 2*pi-0.1, 2*pi+0.1)
self.assertFalse(result)
# start position outside limits
result, shortest_angle = shortest_angular_distance_with_large_limits(10.5*pi, 0, -2*pi, 2*pi)
self.assertFalse(result)
# invalid limits (lower > upper)
result, shortest_angle = shortest_angular_distance_with_large_limits(0, 0.1, 2*pi, -2*pi)
self.assertFalse(result)
# specific test case
result, shortest_angle = shortest_angular_distance_with_large_limits(0.999507, 1.0, -20*pi, 20*pi)
self.assertTrue(result)
self.assertAlmostEqual(shortest_angle, 0.000493)
def test_normalize_angle_positive(self):
self.assertAlmostEqual(0, normalize_angle_positive(0))
self.assertAlmostEqual(pi, normalize_angle_positive(pi))
self.assertAlmostEqual(0, normalize_angle_positive(2*pi))
self.assertAlmostEqual(pi, normalize_angle_positive(3*pi))
self.assertAlmostEqual(0, normalize_angle_positive(4*pi))
self.assertAlmostEqual(0, normalize_angle_positive(-0))
self.assertAlmostEqual(pi, normalize_angle_positive(-pi))
self.assertAlmostEqual(0, normalize_angle_positive(-2*pi))
self.assertAlmostEqual(pi, normalize_angle_positive(-3*pi))
self.assertAlmostEqual(0, normalize_angle_positive(-4*pi))
self.assertAlmostEqual(0, normalize_angle_positive(-0))
self.assertAlmostEqual(3*pi/2, normalize_angle_positive(-pi/2))
self.assertAlmostEqual(pi, normalize_angle_positive(-pi))
self.assertAlmostEqual(pi/2, normalize_angle_positive(-3*pi/2))
self.assertAlmostEqual(0, normalize_angle_positive(-4*pi/2))
self.assertAlmostEqual(0, normalize_angle_positive(0))
self.assertAlmostEqual(pi/2, normalize_angle_positive(pi/2))
self.assertAlmostEqual(pi/2, normalize_angle_positive(5*pi/2))
self.assertAlmostEqual(pi/2, normalize_angle_positive(9*pi/2))
self.assertAlmostEqual(pi/2, normalize_angle_positive(-3*pi/2))
def test_normalize_angle(self):
self.assertAlmostEqual(0, normalize_angle(0))
self.assertAlmostEqual(pi, normalize_angle(pi))
self.assertAlmostEqual(0, normalize_angle(2*pi))
self.assertAlmostEqual(pi, normalize_angle(3*pi))
self.assertAlmostEqual(0, normalize_angle(4*pi))
self.assertAlmostEqual(0, normalize_angle(-0))
self.assertAlmostEqual(pi, normalize_angle(-pi))
self.assertAlmostEqual(0, normalize_angle(-2*pi))
self.assertAlmostEqual(pi, normalize_angle(-3*pi))
self.assertAlmostEqual(0, normalize_angle(-4*pi))
self.assertAlmostEqual(0, normalize_angle(-0))
self.assertAlmostEqual(-pi/2, normalize_angle(-pi/2))
self.assertAlmostEqual(pi, normalize_angle(-pi))
self.assertAlmostEqual(pi/2, normalize_angle(-3*pi/2))
self.assertAlmostEqual(0, normalize_angle(-4*pi/2))
self.assertAlmostEqual(0, normalize_angle(0))
self.assertAlmostEqual(pi/2, normalize_angle(pi/2))
self.assertAlmostEqual(pi/2, normalize_angle(5*pi/2))
self.assertAlmostEqual(pi/2, normalize_angle(9*pi/2))
self.assertAlmostEqual(pi/2, normalize_angle(-3*pi/2))
def test_shortest_angular_distance(self):
self.assertAlmostEqual(pi/2, shortest_angular_distance(0, pi/2))
self.assertAlmostEqual(-pi/2, shortest_angular_distance(0, -pi/2))
self.assertAlmostEqual(-pi/2, shortest_angular_distance(pi/2, 0))
self.assertAlmostEqual(pi/2, shortest_angular_distance(-pi/2, 0))
self.assertAlmostEqual(-pi/2, shortest_angular_distance(pi, pi/2))
self.assertAlmostEqual(pi/2, shortest_angular_distance(pi, -pi/2))
self.assertAlmostEqual(pi/2, shortest_angular_distance(pi/2, pi))
self.assertAlmostEqual(-pi/2, shortest_angular_distance(-pi/2, pi))
self.assertAlmostEqual(-pi/2, shortest_angular_distance(5*pi, pi/2))
self.assertAlmostEqual(pi/2, shortest_angular_distance(7*pi, -pi/2))
self.assertAlmostEqual(pi/2, shortest_angular_distance(9*pi/2, pi))
self.assertAlmostEqual(pi/2, shortest_angular_distance(-3*pi/2, pi))
# Backside wrapping
self.assertAlmostEqual(-pi/2, shortest_angular_distance(-3*pi/4, 3*pi/4))
self.assertAlmostEqual(pi/2, shortest_angular_distance(3*pi/4, -3*pi/4))
def test_two_pi_complement(self):
epsilon = 1e-9
self.assertAlmostEqual(two_pi_complement(0), 2*pi)
self.assertAlmostEqual(two_pi_complement(2*pi), 0)
self.assertAlmostEqual(two_pi_complement(-2*pi), 0)
self.assertAlmostEqual(two_pi_complement(2*pi-epsilon), -epsilon)
self.assertAlmostEqual(two_pi_complement(-2*pi+epsilon), epsilon)
self.assertAlmostEqual(two_pi_complement(pi/2), -3*pi/2)
self.assertAlmostEqual(two_pi_complement(pi), -pi)
self.assertAlmostEqual(two_pi_complement(-pi), pi)
self.assertAlmostEqual(two_pi_complement(-pi/2), 3*pi/2)
self.assertAlmostEqual(two_pi_complement(3*pi), -pi)
self.assertAlmostEqual(two_pi_complement(-3.0*pi), pi)
self.assertAlmostEqual(two_pi_complement(-5.0*pi/2.0), 3*pi/2)
def test_find_min_max_delta(self):
epsilon = 1e-9
# Straight forward full range
flag, min_delta, max_delta = _find_min_max_delta( 0, -pi, pi)
self.assertTrue(flag)
self.assertAlmostEqual(min_delta, -pi)
self.assertAlmostEqual(max_delta, pi)
# pi/2 Full Range
flag, min_delta, max_delta = _find_min_max_delta( pi/2, -pi, pi)
self.assertTrue(flag)
self.assertAlmostEqual(min_delta, -3*pi/2)
self.assertAlmostEqual(max_delta, pi/2)
# -pi/2 Full range
flag, min_delta, max_delta = _find_min_max_delta( -pi/2, -pi, pi)
self.assertTrue(flag)
self.assertAlmostEqual(min_delta, -pi/2)
self.assertAlmostEqual(max_delta, 3*pi/2)
# Straight forward partial range
flag, min_delta, max_delta = _find_min_max_delta( 0, -pi/2, pi/2)
self.assertTrue(flag)
self.assertAlmostEqual(min_delta, -pi/2)
self.assertAlmostEqual(max_delta, pi/2)
# pi/4 Partial Range
flag, min_delta, max_delta = _find_min_max_delta( pi/4, -pi/2, pi/2)
self.assertTrue(flag)
self.assertAlmostEqual(min_delta, -3*pi/4)
self.assertAlmostEqual(max_delta, pi/4)
# -pi/4 Partial Range
flag, min_delta, max_delta = _find_min_max_delta( -pi/4, -pi/2, pi/2)
self.assertTrue(flag)
self.assertAlmostEqual(min_delta, -pi/4)
self.assertAlmostEqual(max_delta, 3*pi/4)
# bump stop negative full range
flag, min_delta, max_delta = _find_min_max_delta( -pi, -pi, pi)
self.assertTrue(flag)
self.assertTrue((fabs(min_delta) <= epsilon and fabs(max_delta - 2*pi) <= epsilon) or (fabs(min_delta+2*pi) <= epsilon and fabs(max_delta) <= epsilon))
self.assertAlmostEqual(min_delta, 0.0)
self.assertAlmostEqual(max_delta, 2*pi)
flag, min_delta, max_delta = _find_min_max_delta(-0.25,0.25,-0.25)
self.assertTrue(flag)
self.assertAlmostEqual(min_delta, -2*pi+0.5)
self.assertAlmostEqual(max_delta, 0.0)
# bump stop positive full range
flag, min_delta, max_delta = _find_min_max_delta( pi-epsilon, -pi, pi)
self.assertTrue(flag)
#self.assertTrue((fabs(min_delta) <= epsilon and fabs(max_delta - 2*pi) <= epsilon) or (fabs(min_delta+2*pi) <= epsilon and fabs(max_delta) <= epsilon))
self.assertAlmostEqual(min_delta, -2*pi+epsilon)
self.assertAlmostEqual(max_delta, epsilon)
# bump stop negative partial range
flag, min_delta, max_delta = _find_min_max_delta( -pi, -pi, pi)
self.assertTrue(flag)
self.assertAlmostEqual(min_delta, 0)
self.assertAlmostEqual(max_delta, 2*pi)
# bump stop positive partial range
flag, min_delta, max_delta = _find_min_max_delta( -pi/2, -pi/2, pi/2)
self.assertTrue(flag)
self.assertAlmostEqual(min_delta, 0.0)
self.assertAlmostEqual(max_delta, pi)
#Test out of range negative
flag, min_delta, max_delta = _find_min_max_delta( -pi, -pi/2, pi/2)
self.assertFalse(flag)
#Test out of range postive
flag, min_delta, max_delta = _find_min_max_delta( pi, -pi/2, pi/2)
self.assertFalse(flag)
# pi/4 Partial Range
flag, min_delta, max_delta = _find_min_max_delta( 3*pi/4, pi/2, -pi/2)
self.assertTrue(flag)
self.assertAlmostEqual(min_delta, -pi/4)
self.assertAlmostEqual(max_delta, 3*pi/4)
if __name__ == '__main__':
import rosunit
rosunit.unitrun('angles', 'test_python_angles', TestAngles)