def test_benchmark_canon_to_dict():
M = np.random.rand(2, 2)
C1 = np.random.rand(2, 2)
K0 = np.random.rand(2, 2)
K2 = np.random.rand(2, 2)
H = np.random.rand(2, 1)
cor = {'Mpp': M[0, 0],
'Mpd': M[0, 1],
'C1pp': C1[0, 0],
'C1pd': C1[0, 1],
'K0pp': K0[0, 0],
'K0pd': K0[0, 1],
'K2pp': K2[0, 0],
'K2pd': K2[0, 1],
'Mdp': M[1, 0],
'Mdd': M[1, 1],
'C1dp': C1[1, 0],
'C1dd': C1[1, 1],
'K0dp': K0[1, 0],
'K0dd': K0[1, 1],
'K2dp': K2[1, 0],
'K2dd': K2[1, 1],
'HpF': H[0, 0],
'HdF': H[1, 0]}
entries = csi.benchmark_canon_to_dict(M, C1, K0, K2, H)
for k, v in cor.items():
assert v == entries[k]
def test_benchmark_lstsq_matrices():
dataset = bdp.DataSet()
trial = bdp.Run('700', dataset)
A, B, F = csi.whipple_state_space(trial.metadata['Rider'], 1.0)
H = np.dot(np.linalg.inv(B[2:]), F[2:])
timeSeries = csi.benchmark_time_series(trial, subtractMean=False)
M, C1, K0, K2 = trial.bicycle.canonical(nominal=True)
fixedValues = csi.benchmark_canon_to_dict(M, C1, K0, K2, H)
rollParams = ['Mpp', 'Mpd',
'C1pp', 'C1pd',
'K0pp', 'K0pd',
'K2pp', 'K2pd',
'HpF']
A, B = csi.benchmark_lstsq_matrices(rollParams, timeSeries, fixedValues)
testing.assert_allclose(trial.taskSignals['RollRate'].time_derivative(),
A[:, 0])
testing.assert_allclose(trial.taskSignals['SteerRate'].time_derivative(),
A[:, 1])
testing.assert_allclose(trial.taskSignals['ForwardSpeed'] *
trial.taskSignals['RollRate'], A[:, 2])
testing.assert_allclose(trial.taskSignals['ForwardSpeed'] *
trial.taskSignals['SteerRate'], A[:, 3])
testing.assert_allclose(9.81 *
trial.taskSignals['RollAngle'], A[:, 4])
testing.assert_allclose(9.81 *
trial.taskSignals['SteerAngle'], A[:, 5])
testing.assert_allclose(trial.taskSignals['ForwardSpeed']**2 *
trial.taskSignals['RollAngle'], A[:, 6])
testing.assert_allclose(trial.taskSignals['ForwardSpeed']**2 *
trial.taskSignals['SteerAngle'], A[:, 7])
testing.assert_allclose(-trial.taskSignals['PullForce'], A[:, 8])
testing.assert_allclose(np.zeros_like(trial.taskSignals['PullForce']), B)
rollParams = ['Mpp', 'Mpd',
'C1pp', 'C1pd',
'K0pp', 'K0pd',
'K2pp', 'K2pd']
A, B = csi.benchmark_lstsq_matrices(rollParams, timeSeries, fixedValues)
testing.assert_allclose(trial.taskSignals['RollRate'].time_derivative(),
A[:, 0])
testing.assert_allclose(trial.taskSignals['SteerRate'].time_derivative(),
A[:, 1])
testing.assert_allclose(trial.taskSignals['ForwardSpeed'] *
trial.taskSignals['RollRate'], A[:, 2])
testing.assert_allclose(trial.taskSignals['ForwardSpeed'] *
trial.taskSignals['SteerRate'], A[:, 3])
testing.assert_allclose(9.81 *
trial.taskSignals['RollAngle'], A[:, 4])
testing.assert_allclose(9.81 *
trial.taskSignals['SteerAngle'], A[:, 5])
testing.assert_allclose(trial.taskSignals['ForwardSpeed']**2 *
trial.taskSignals['RollAngle'], A[:, 6])
testing.assert_allclose(trial.taskSignals['ForwardSpeed']**2 *
trial.taskSignals['SteerAngle'], A[:, 7])
testing.assert_allclose(H[0] * trial.taskSignals['PullForce'], B)
steerParams = ['Mdp', 'Mdd', 'C1dp', 'C1dd', 'K0dp', 'K0dd', 'K2dp',
'K2dd', 'HdF']
A, B = csi.benchmark_lstsq_matrices(steerParams, timeSeries, fixedValues)
testing.assert_allclose(trial.taskSignals['RollRate'].time_derivative(),
A[:, 0])
testing.assert_allclose(trial.taskSignals['SteerRate'].time_derivative(),
A[:, 1])
testing.assert_allclose(trial.taskSignals['ForwardSpeed'] *
trial.taskSignals['RollRate'], A[:, 2])
testing.assert_allclose(trial.taskSignals['ForwardSpeed'] *
trial.taskSignals['SteerRate'], A[:, 3])
testing.assert_allclose(9.81 *
trial.taskSignals['RollAngle'], A[:, 4])
testing.assert_allclose(9.81 *
trial.taskSignals['SteerAngle'], A[:, 5])
testing.assert_allclose(trial.taskSignals['ForwardSpeed']**2 *
trial.taskSignals['RollAngle'], A[:, 6])
testing.assert_allclose(trial.taskSignals['ForwardSpeed']**2 *
trial.taskSignals['SteerAngle'], A[:, 7])
testing.assert_allclose(-trial.taskSignals['PullForce'], A[:, 8])
testing.assert_allclose(trial.taskSignals['SteerTorque'], B)
steerParams = ['Mdp', 'Mdd', 'C1dp', 'C1dd', 'K0dp', 'K0dd', 'K2dp',
'K2dd']
A, B = csi.benchmark_lstsq_matrices(steerParams, timeSeries, fixedValues)
testing.assert_allclose(trial.taskSignals['RollRate'].time_derivative(),
A[:, 0])
testing.assert_allclose(trial.taskSignals['SteerRate'].time_derivative(),
A[:, 1])
testing.assert_allclose(trial.taskSignals['ForwardSpeed'] *
trial.taskSignals['RollRate'], A[:, 2])
testing.assert_allclose(trial.taskSignals['ForwardSpeed'] *
trial.taskSignals['SteerRate'], A[:, 3])
testing.assert_allclose(9.81 *
trial.taskSignals['RollAngle'], A[:, 4])
testing.assert_allclose(9.81 *
trial.taskSignals['SteerAngle'], A[:, 5])
testing.assert_allclose(trial.taskSignals['ForwardSpeed']**2 *
trial.taskSignals['RollAngle'], A[:, 6])
testing.assert_allclose(trial.taskSignals['ForwardSpeed']**2 *
trial.taskSignals['SteerAngle'], A[:, 7])
testing.assert_allclose(trial.taskSignals['SteerTorque'] +
H[1] * trial.taskSignals['PullForce'], B)
steerParams = ['Mdp', 'C1dd', 'K0dp', 'K2dp', 'K2dd']
A, B = csi.benchmark_lstsq_matrices(steerParams, timeSeries, fixedValues)
testing.assert_allclose(trial.taskSignals['RollRate'].time_derivative(),
A[:, 0])
testing.assert_allclose(trial.taskSignals['ForwardSpeed'] *
trial.taskSignals['SteerRate'], A[:, 1])
testing.assert_allclose(9.81 *
trial.taskSignals['RollAngle'], A[:, 2])
testing.assert_allclose(trial.taskSignals['ForwardSpeed']**2 *
trial.taskSignals['RollAngle'], A[:, 3])
testing.assert_allclose(trial.taskSignals['ForwardSpeed']**2 *
trial.taskSignals['SteerAngle'], A[:, 4])
testing.assert_allclose(
H[1] * trial.taskSignals['PullForce'] +
trial.taskSignals['SteerTorque'] -
fixedValues['Mdd'] * trial.taskSignals['SteerRate'].time_derivative() -
fixedValues['C1dp'] * trial.taskSignals['ForwardSpeed'] * trial.taskSignals['RollRate'] -
fixedValues['K0dd'] * 9.81 * trial.taskSignals['SteerAngle'], B)