new_contents: #!/usr/bin/env python
  import unittest
  
  from geometry_msgs.msg import Point
  
  from trajectory.epitrochoid_trajectory import EpitrochoidTrajectory
  
  
  class EpitrochoidTrajectoryTest(unittest.TestCase):
  
      def setUp(self):
          self.trajectory = EpitrochoidTrajectory(5, 1, 3, 4, 1.0 / 3)
          self.expected_position = Point()
  
      def test_given_epitrochoid_trajectory_when_getting_position_after_0s_then_position_is_returned(self):
          self.expected_position.x = 1.0
          self.expected_position.y = 0.0
          self.assertPositionAlmostEqual(self.expected_position, self.trajectory.get_position_at(0), 0.01)
  
      def test_given_epitrochoid_trajectory_when_getting_position_after_1s_then_position_is_returned(self):
          self.expected_position.x = 1.0
          self.expected_position.y = 2.0
          self.assertPositionAlmostEqual(self.expected_position, self.trajectory.get_position_at(1), 0.01)
  
  
      def test_given_epitrochoid_trajectory_when_getting_position_after_2s_then_position_is_returned(self):
          self.expected_position.x = -3.0
          self.expected_position.y = 0.0
          self.assertPositionAlmostEqual(self.expected_position, self.trajectory.get_position_at(2), 0.01)
  
      def test_given_epitrochoid_trajectory_when_getting_position_after_3s_then_position_is_returned(self):
          self.expected_position.x = 1
          self.expected_position.y = -2
          self.assertPositionAlmostEqual(self.expected_position, self.trajectory.get_position_at(3), 0.01)
  
      def test_given_epitrochoid_trajectory_when_getting_position_after_4s_then_position_is_returned(self):
          self.expected_position.x = 1.0
          self.expected_position.y = 0.0
          self.assertPositionAlmostEqual(self.expected_position, self.trajectory.get_position_at(4), 0.01)
  
      def assertPositionAlmostEqual(self, expected, actual, delta):
          self.assertAlmostEqual(expected.x, actual.x, delta=delta)
          self.assertAlmostEqual(expected.y, actual.y, delta=delta)
  
subject: Test epitrochoid trajectory