import pytest
import toppra.cpp as tac


def test_linear_vel():
    c = tac.LinearJointVelocity([-1, -1], [1, 1])
    c.discretizationType = tac.DiscretizationType.Interpolation

    assert c.hasUbounds()
    assert c.hasXbounds()
    assert not c.hasLinearInequalities()


def test_linear_accel():
    c = tac.LinearJointAcceleration([-1, -1], [1, 1])
    c.discretizationType = tac.DiscretizationType.Interpolation

    assert not c.hasUbounds()
    assert not c.hasXbounds()
    assert c.hasLinearInequalities()

Add test for constraint bindings
Add test for constraint bindings
