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