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[irteus/irtutil.l] Enable to pass integer time-list to interpolator #625

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Merged
k-okada merged 3 commits into from
Oct 18, 2022
Merged

[irteus/irtutil.l] Enable to pass integer time-list to interpolator #625

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99f5ca8
[irteus] Add test of passing integer time-list to interpolator
pazeshun Oct 14, 2022
729aefa
[irteus/irtutil.l] Enable to pass integer time-list to interpolator
pazeshun Oct 14, 2022
09a2b55
[irteus/irtutil.l] Optimize float conversion of time-list in interpol…
pazeshun Oct 17, 2022
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2 changes: 1 addition & 1 deletion irteus/irtutil.l
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Original file line number Diff line number Diff line change
Expand Up @@ -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)
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15 changes: 15 additions & 0 deletions irteus/test/interpolator.l
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Expand Up @@ -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)))))

Expand All @@ -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")
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