def test_vector_system_overrides(self):
dt = 0.5
for is_discrete in [False, True]:
system = CustomVectorSystem(is_discrete)
context = system.CreateDefaultContext()
u = np.array([1.])
context.FixInputPort(0, BasicVector(u))
# Dispatch virtual calls from C++.
output = call_vector_system_overrides(system, context, is_discrete,
dt)
self.assertTrue(system.HasAnyDirectFeedthrough())
# Check call order.
update_type = is_discrete and "discrete" or "continuous"
self.assertEqual(
system.has_called,
[update_type, "feedthrough", "output", "feedthrough"])
# Check values.
state = context.get_state()
x = (is_discrete and state.get_discrete_state()
or state.get_continuous_state()).get_vector().get_value()
x0 = [0., 0.]
c = is_discrete and 2 or 1 * dt
x_expected = x0 + c * u
self.assertTrue(np.allclose(x, x_expected))
# Check output.
y_expected = np.hstack([u, x])
y = output.get_vector_data(0).get_value()
self.assertTrue(np.allclose(y, y_expected))
def test_vector_system_overrides(self):
dt = 0.5
for is_discrete in [False, True]:
system = CustomVectorSystem(is_discrete)
context = system.CreateDefaultContext()
u = np.array([1.])
context.FixInputPort(0, BasicVector(u))
# Dispatch virtual calls from C++.
output = call_vector_system_overrides(
system, context, is_discrete, dt)
self.assertTrue(system.HasAnyDirectFeedthrough())
# Check call order.
update_type = is_discrete and "discrete" or "continuous"
self.assertEqual(
system.has_called,
[update_type, "feedthrough", "output", "feedthrough"])
# Check values.
state = context.get_state()
x = (is_discrete and state.get_discrete_state()
or state.get_continuous_state()).get_vector().get_value()
x0 = [0., 0.]
c = is_discrete and 2 or 1*dt
x_expected = x0 + c*u
self.assertTrue(np.allclose(x, x_expected))
# Check output.
y_expected = np.hstack([u, x])
y = output.get_vector_data(0).get_value()
self.assertTrue(np.allclose(y, y_expected))
