def test_plant(self):
pendulum = PendulumPlant()
self.assertEqual(pendulum.get_input_port(), pendulum.get_input_port(0))
self.assertEqual(pendulum.get_state_output_port(),
pendulum.get_output_port(0))
context = pendulum.CreateDefaultContext()
self.assertIsInstance(pendulum.get_state(context=context),
PendulumState)
self.assertIsInstance(pendulum.get_mutable_state(context=context),
PendulumState)
self.assertIsInstance(pendulum.get_parameters(context=context),
PendulumParams)
self.assertIsInstance(pendulum.get_mutable_parameters(context=context),
PendulumParams)
def test_simulation(self):
# Basic constant-torque pendulum simulation.
pendulum = PendulumPlant()
# Create the simulator.
simulator = Simulator(pendulum)
context = simulator.get_mutable_context()
# Set an input torque.
input = PendulumInput()
input.set_tau(1.)
pendulum.get_input_port().FixValue(context, input)
# Set the initial state.
state = context.get_mutable_continuous_state_vector()
state.set_theta(1.)
state.set_thetadot(0.)
# Simulate (and make sure the state actually changes).
initial_state = state.CopyToVector()
simulator.AdvanceTo(1.0)
self.assertFalse((state.CopyToVector() == initial_state).any())
def test_plant(self):
pendulum = PendulumPlant()
self.assertEqual(pendulum.get_input_port(), pendulum.get_input_port(0))
self.assertEqual(pendulum.get_state_output_port(),
pendulum.get_output_port(0))
