| """Small deterministic geometry sanity check. No performance claim.""" | |
| import json,time | |
| import numpy as np | |
| from yeorinx3.control import ActionLibrary | |
| from yeorinx3.geometry import rotation_linearization_envelope | |
| s=time.perf_counter();lib=ActionLibrary(160,90,90,np.ones((90,160)),directions=16) | |
| c=lib.choose([.015,-.004],[[.015,-.004]],[[.002,.001]],.0002,8.) | |
| print('build_s',time.perf_counter()-s,'templates',len(lib.angles),'choice',c) | |
| print('fieldmax',np.linalg.norm(lib.field(c),axis=-1).max()) | |
| print('envelope',rotation_linearization_envelope(160,90,.024,.10)) | |