def test_basics(self):
# call default constructor
QuadrotorPlant()
quadrotor = QuadrotorPlant(m_arg=1, L_arg=2, I_arg=np.eye(3),
kF_arg=1., kM_arg=1.)
self.assertEqual(quadrotor.m(), 1)
self.assertEqual(quadrotor.g(), 9.81)
StabilizingLQRController(quadrotor, np.zeros(3))
def test_basics(self):
# call default constructor
QuadrotorPlant()
quadrotor = QuadrotorPlant(m_arg=1,
L_arg=2,
I_arg=np.eye(3),
kF_arg=1.,
kM_arg=1.)
self.assertEqual(quadrotor.m(), 1)
self.assertEqual(quadrotor.g(), 9.81)
StabilizingLQRController(quadrotor, np.zeros(3))
def test_basics(self):
# call default constructor
QuadrotorPlant()
quadrotor = QuadrotorPlant(m_arg=1,
L_arg=2,
I_arg=np.eye(3),
kF_arg=1.,
kM_arg=1.)
self.assertEqual(quadrotor.m(), 1)
self.assertEqual(quadrotor.g(), 9.81)
self.assertEqual(quadrotor.length(), 2)
self.assertEqual(quadrotor.force_constant(), 1)
self.assertEqual(quadrotor.moment_constant(), 1.)
np.testing.assert_array_equal(quadrotor.inertia(), np.eye(3))
StabilizingLQRController(quadrotor, np.zeros(3))
def test_basics(self):
# call default constructor
QuadrotorPlant()
quadrotor = QuadrotorPlant(m_arg=1,
L_arg=2,
I_arg=np.eye(3),
kF_arg=1.,
kM_arg=1.)
self.assertEqual(quadrotor.m(), 1)
self.assertEqual(quadrotor.g(), 9.81)
scene_graph = SceneGraph()
quadrotor.RegisterGeometry(scene_graph)
self.assertTrue(quadrotor.source_id().is_valid())
quadrotor.get_geometry_pose_output_port()
StabilizingLQRController(quadrotor, np.zeros(3))