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fix(spline): validate interpolation time span #289

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fix(spline): validate interpolation time span #289

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4 changes: 2 additions & 2 deletions spatialmath/spline.py
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Original file line number Diff line number Diff line change
Expand Up @@ -105,9 +105,9 @@ def __init__(
self.control_poses = control_poses
self.timepoints = np.array(timepoints)

if self.timepoints[-1] < self._e:
if self.timepoints[-1] - self.timepoints[0] < self._e:
raise ValueError(
"Difference between start and end timepoints is less than {self._e}"
f"Difference between start and end timepoints is less than {self._e}"
)

if len(self.control_poses) != len(self.timepoints):
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23 changes: 23 additions & 0 deletions tests/test_spline.py
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Original file line number Diff line number Diff line change
Expand Up @@ -73,6 +73,29 @@ def test_small_delta_t(self):
np.linspace(0, InterpSplineSE3._e, len(self.waypoints)), self.waypoints
)

@pytest.mark.parametrize(
"start, end",
[
(-5, -1),
(10, 20),
],
)
@pytest.mark.parametrize("normalize_time", [False, True])
def test_nonzero_offset_time_range(self, start, end, normalize_time):
InterpSplineSE3(
np.linspace(start, end, len(self.waypoints)),
self.waypoints,
normalize_time=normalize_time,
)

def test_zero_time_span(self):
with pytest.raises(ValueError, match=str(InterpSplineSE3._e)):
InterpSplineSE3(
np.full(len(self.waypoints), -1.0),
self.waypoints,
normalize_time=True,
)

@pytest.mark.skipif(
plt.get_backend().lower() == "agg" or os.environ.get("CI") == "true",
reason="animate=True busy-waits on a timer callback that never "
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