test_trajectory.py 文件源码

def test_trajectory(self):
        # build flatness based trajectory generator
        fs = tr.FlatString(y0=self.y0, y1=self.y1, z0=self.z_start, z1=self.z_end, t0=self.t_start, dt=2,
                           params=self.params)
        zz, tt = np.meshgrid(self.z_values, self.t_values)
        x_values = fs.system_state(zz, tt)
        u_values = fs.control_input(self.t_values)
        eval_data_x = vis.EvalData([self.t_values, self.z_values], x_values)

        if show_plots:
            # plot stuff
            pw = pg.plot(title="control_input")
            pw.plot(self.t_values, u_values)
            ap = vis.PgAnimatedPlot(eval_data_x)
            app.exec_()