def test_system_base_api(self):
# Test a system with a different number of inputs from outputs.
system = Adder(3, 10)
self.assertIsInstance(system, SystemBase)
self.assertEqual(
system.GetSystemType(),
"drake::systems::Adder<double>")
system.set_name(name="adder")
self.assertEqual(system.get_name(), "adder")
self.assertEqual(system.GetSystemName(), "adder")
self.assertEqual(system.GetSystemPathname(), "::adder")
self.assertEqual(system.num_input_ports(), 3)
self.assertEqual(system.num_output_ports(), 1)
u1 = system.GetInputPort("u1")
self.assertEqual(u1.get_name(), "u1")
self.assertIn("u1", u1.GetFullDescription())
self.assertEqual(u1.get_index(), 1)
self.assertEqual(u1.size(), 10)
self.assertIsNotNone(u1.ticket())
self.assertIs(u1.get_system(), system)
y = system.GetOutputPort("sum")
self.assertEqual(y.get_name(), "sum")
self.assertEqual(y.get_index(), 0)
self.assertIsInstance(y.Allocate(), Value[BasicVector])
self.assertIs(y.get_system(), system)
y.disable_caching_by_default()
self.assertEqual(y, system.get_output_port())
def __init__(self, num_inputs, size):
Diagram.__init__(self)
builder = DiagramBuilder()
adder = Adder(num_inputs, size)
builder.AddSystem(adder)
builder.ExportOutput(adder.get_output_port(0))
for i in range(num_inputs):
builder.ExportInput(adder.get_input_port(i))
builder.BuildInto(self)
def __init__(self, num_inputs, size):
Diagram.__init__(self)
builder = DiagramBuilder()
adder = Adder(num_inputs, size)
builder.AddSystem(adder)
builder.ExportOutput(adder.get_output_port(0))
for i in range(num_inputs):
builder.ExportInput(adder.get_input_port(i))
builder.BuildInto(self)