def test_eval(self):
"""Tests evaluation (e.g. caching, API sugars, etc.)."""
# `Eval` and `EvalAbstract`: Test with constant systems.
model_values = [
AbstractValue.Make("Hello World"),
AbstractValue.Make(BasicVector([1., 2., 3.])),
]
for model_value in model_values:
is_abstract = not isinstance(model_value.get_value(), BasicVector)
if is_abstract:
zoh = ConstantValueSource(copy.copy(model_value))
else:
zoh = ConstantVectorSource(model_value.get_value().get_value())
context = zoh.CreateDefaultContext()
output_port = zoh.get_output_port(0)
value_abstract = output_port.EvalAbstract(context)
value = output_port.Eval(context)
self.assertEqual(type(value_abstract), type(model_value))
self.assertEqual(type(value), type(model_value.get_value()))
if is_abstract:
check = self.assertEqual
else:
def check(a, b):
self.assertEqual(type(a.get_value()), type(b.get_value()))
np.testing.assert_equal(a.get_value(), b.get_value())
check(value_abstract.get_value(), model_value.get_value())
check(value, model_value.get_value())
def test_eval(self):
"""Tests evaluation (e.g. caching, API sugars, etc.)."""
# `Eval` and `EvalAbstract`: Test with constant systems.
model_values = [
AbstractValue.Make("Hello World"),
AbstractValue.Make(BasicVector([1., 2., 3.])),
]
for model_value in model_values:
is_abstract = not isinstance(model_value.get_value(), BasicVector)
if is_abstract:
zoh = ConstantValueSource(copy.copy(model_value))
else:
zoh = ConstantVectorSource(model_value.get_value().get_value())
context = zoh.CreateDefaultContext()
output_port = zoh.get_output_port(0)
value_abstract = output_port.EvalAbstract(context)
value = output_port.Eval(context)
self.assertEqual(type(value_abstract), type(model_value))
self.assertEqual(type(value), type(model_value.get_value()))
if is_abstract:
check = self.assertEqual
else:
def check(a, b):
self.assertEqual(type(a.get_value()), type(b.get_value()))
np.testing.assert_equal(a.get_value(), b.get_value())
check(value_abstract.get_value(), model_value.get_value())
check(value, model_value.get_value())
def test_abstract_output_port_eval(self):
model_value = AbstractValue.Make("Hello World")
source = ConstantValueSource(copy.copy(model_value))
context = source.CreateDefaultContext()
output_port = source.get_output_port(0)
value = output_port.Eval(context)
self.assertEqual(type(value), type(model_value.get_value()))
self.assertEqual(value, model_value.get_value())
value_abs = output_port.EvalAbstract(context)
self.assertEqual(type(value_abs), type(model_value))
self.assertEqual(value_abs.get_value(), model_value.get_value())
def test_abstract_output_port_eval(self):
model_value = AbstractValue.Make("Hello World")
source = ConstantValueSource(copy.copy(model_value))
context = source.CreateDefaultContext()
output_port = source.get_output_port(0)
value = output_port.Eval(context)
self.assertEqual(type(value), type(model_value.get_value()))
self.assertEqual(value, model_value.get_value())
value_abs = output_port.EvalAbstract(context)
self.assertEqual(type(value_abs), type(model_value))
self.assertEqual(value_abs.get_value(), model_value.get_value())
def ConstantSource(value):
"""Sugar function to create either a ConstantVectorSource or
ConstantValueSource based on an input value."""
if _is_array(value):
# Use template to permit different dtypes.
return ConstantVectorSource_(value)
else:
return ConstantValueSource(AbstractValue.Make(value))
def test_ctor_api(self):
"""Tests construction of systems for systems whose executions semantics
are not tested above.
"""
ConstantValueSource(AbstractValue.Make("Hello world"))
ConstantVectorSource(source_value=[1., 2.])
ZeroOrderHold(period_sec=0.1, vector_size=2)
ZeroOrderHold(period_sec=0.1,
abstract_model_value=AbstractValue.Make("Hello world"))
def test_ctor_api(self):
"""Tests construction of systems for systems whose executions semantics
are not tested above.
"""
ConstantValueSource(AbstractValue.Make("Hello world"))
DiscreteTimeDelay(update_sec=0.1, delay_timesteps=5, vector_size=2)
DiscreteTimeDelay(
update_sec=0.1,
delay_timesteps=5,
abstract_model_value=AbstractValue.Make("Hello world"))
ZeroOrderHold(period_sec=0.1, vector_size=2)
ZeroOrderHold(period_sec=0.1,
abstract_model_value=AbstractValue.Make("Hello world"))
