33 lines
986 B
Python
33 lines
986 B
Python
import math
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import unittest
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import numpy as np
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import gtsam
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class TestScenario(unittest.TestCase):
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def setUp(self):
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pass
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def test_loop(self):
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# Forward velocity 2m/s
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# Pitch up with angular velocity 6 degree/sec (negative in FLU)
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v = 2
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w = math.radians(6)
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W = np.array([0, -w, 0])
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V = np.array([v, 0, 0])
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scenario = gtsam.ConstantTwistScenario(W, V)
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T = 30
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np.testing.assert_almost_equal(W, scenario.omega_b(T))
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np.testing.assert_almost_equal(V, scenario.velocity_b(T))
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np.testing.assert_almost_equal(np.cross(W, V), scenario.acceleration_b(T))
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# R = v/w, so test if loop crests at 2*R
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R = v / w
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T30 = scenario.pose(T)
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np.testing.assert_almost_equal(np.array([-math.pi, 0, -math.pi]), T30.rotation().xyz())
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self.assert_(gtsam.Point3(0, 0, 2 * R).equals(T30.translation()))
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if __name__ == '__main__':
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unittest.main()
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