Merge pull request #625 from pazeshun/interpolator-integer

[irteus/irtutil.l] Enable to pass integer time-list to interpolator

Author: k-okada

irteus/irtutil.l

@@ -264,7 +264,7 @@
    position-list: list of control point
    time-list: list of time from start for each control point, time in first contrall point is zero, so length of this list is length of control point minus 1"
    (setq position-list pl)
-   (setq time-list tl)
+   (setq time-list (mapcar #'float tl))  ;; float conversion is for compiled eps> (see https://github.com/euslisp/EusLisp/issues/406)
    (if (/= (length position-list) (1+ (length time-list)))
        (warning-message 1 "length of position-list must be length of time-list + 1"))
    (setq time 0.0)

irteus/test/interpolator.l

@@ -239,6 +239,15 @@
         ))
     ))
 
+;; https://github.com/euslisp/jskeus/pull/625
+(defun test-interpolators-625
+  (&optional (ip-class linear-interpolator))
+  (let ((ip (instance ip-class :init)))
+    (send ip :reset :position-list (list #f(1 2 3) #f(3 4 5) #f(1 2 3)) :time-list (list 1000 1800))
+    (send ip :start-interpolation)
+    (send ip :pass-time 200)
+    (assert (send ip :interpolatingp))))
+
 (deftest test-linear-interpolator ()
   (let ((res (test-interpolators linear-interpolator)))))
 
@@ -257,6 +266,12 @@
 (deftest test-minjerk-absolute-interpolator-457-0005 ()
   (let ((res (test-interpolators-457 minjerk-interpolator 0.0005)))))
 
+(deftest test-linear-interpolator-625 ()
+  (let ((res (test-interpolators-625 linear-interpolator)))))
+
+(deftest test-minjerk-interpolator-625 ()
+  (let ((res (test-interpolators-625 minjerk-interpolator)))))
+
 
 #|
 (load "~/prog/euslib/jsk/gnuplotlib.l")