21 lines
749 B
21 lines
749 B
import numpy as np
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from openpilot.common.numpy_fast import interp
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class TestInterp:
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def test_correctness_controls(self):
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_A_CRUISE_MIN_BP = np.asarray([0., 5., 10., 20., 40.])
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_A_CRUISE_MIN_V = np.asarray([-1.0, -.8, -.67, -.5, -.30])
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v_ego_arr = [-1, -1e-12, 0, 4, 5, 6, 7, 10, 11, 15.2, 20, 21, 39,
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39.999999, 40, 41]
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expected = np.interp(v_ego_arr, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
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actual = interp(v_ego_arr, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
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np.testing.assert_equal(actual, expected)
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for v_ego in v_ego_arr:
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expected = np.interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
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actual = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
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np.testing.assert_equal(actual, expected)
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