def test_jacobian_singularity_avoidance(self):
'''Not such a good test, very hard to analytically get this jacobian
Really, just proving that Tools.jacobian doesn't crash
'''
jacobian = Tools.jacobian(Azi_Drive.singularity_avoidance,
np.array([1.0, 1.0]),
dx=0.1)
self.assertEqual(jacobian.shape, (1, 2))
def test_jacobian_test_2(self):
def test_2((x, y)):
return np.array([(x ** 2) + (y ** 3), 3 * y])
exp_result = np.matrix([
[2, 3],
[0, 3],
])
jacobian = Tools.jacobian(test_2, np.array([1.0, 1.0]))
self.assertTrue(np.allclose(jacobian, exp_result))
def test_jacobian_test_2(self):
def test_2((x, y)):
return np.array([(x**2) + (y**3), 3 * y])
exp_result = np.matrix([
[2, 3],
[0, 3],
])
jacobian = Tools.jacobian(test_2, np.array([1.0, 1.0]))
self.assertTrue(np.allclose(jacobian, exp_result))
def test_jacobian_test_1(self):
def test_1((x, y)):
return (x ** 2) + (y ** 2)
jacobian = Tools.jacobian(test_1, np.array([1.0, 1.0]))
self.assertTrue(np.allclose(jacobian, [2.0, 2.0]))
def test_jacobian_singularity_avoidance(self):
'''Not such a good test, very hard to analytically get this jacobian
Really, just proving that Tools.jacobian doesn't crash
'''
jacobian = Tools.jacobian(Azi_Drive.singularity_avoidance, np.array([1.0, 1.0]), dx=0.1)
self.assertEqual(jacobian.shape, (1, 2))
def test_jacobian_test_1(self):
def test_1((x, y)):
return (x**2) + (y**2)
jacobian = Tools.jacobian(test_1, np.array([1.0, 1.0]))
self.assertTrue(np.allclose(jacobian, [2.0, 2.0]))
