public void TestRandom()
{
var joints = new JointSet("a", "b");
var maxAcc = new double?[] { 10, 10 };
var maxVel = new double?[] { 50, 10 };
var minPos = new double?[] { -10, 0 };
var maxPos = new double?[] { 50, 10 };
JointLimits jl = new JointLimits(joints, maxVel, maxAcc, minPos, maxPos);
for (int i = 0; i < 100; ++i)
{
var a = JointValues.Random(jl);
Assert.True(a[0] >= minPos[0]);
Assert.True(a[1] >= minPos[1]);
Assert.True(a[0] <= maxPos[0]);
Assert.True(a[1] <= maxPos[1]);
}
Assert.Throws <ArgumentNullException>(() => JointValues.Random(null));
// assert that there must be a jointlimit for every name in jointset
maxAcc = new double?[] { 10, 10 };
maxVel = new double?[] { 50, 10 };
minPos = new double?[] { null, 0 };
maxPos = new double?[] { 50, 10 };
jl = new JointLimits(joints, maxVel, maxAcc, minPos, maxPos);
Assert.Throws <ArgumentException>(() => JointValues.Random(jl));
}
public static JointValues RandomJointValues(JointLimits limits, Random rng = null)
{
return(JointValues.Random(limits, rng ?? ThreadSafeRandom.Generator));
}