def test_abstract_pass_through(self):
model_value = AbstractValue.Make("Hello world")
system = PassThrough(model_value)
context = system.CreateDefaultContext()
system.get_input_port(0).FixValue(context, model_value)
output = system.AllocateOutput()
input_eval = system.EvalAbstractInput(context, 0)
compare_value(self, input_eval, model_value)
system.CalcOutput(context, output)
output_value = output.get_data(0)
compare_value(self, output_value, model_value)
def test_vector_pass_through(self):
model_value = BasicVector([1., 2, 3])
system = PassThrough(model_value.size())
context = system.CreateDefaultContext()
system.get_input_port(0).FixValue(context, model_value)
output = system.AllocateOutput()
input_eval = system.EvalVectorInput(context, 0)
compare_value(self, input_eval, model_value)
system.CalcOutput(context, output)
output_value = output.get_vector_data(0)
compare_value(self, output_value, model_value)
def test_abstract_input_port_fix_string(self):
model_value = AbstractValue.Make("")
system = PassThrough(copy.copy(model_value))
context = system.CreateDefaultContext()
input_port = system.get_input_port(0)
# Fix to a literal.
input_port.FixValue(context, "Alpha")
value = input_port.Eval(context)
self.assertEqual(type(value), type(model_value.get_value()))
self.assertEqual(value, "Alpha")
# Fix to a type-erased string.
input_port.FixValue(context, AbstractValue.Make("Bravo"))
value = input_port.Eval(context)
self.assertEqual(type(value), type(model_value.get_value()))
self.assertEqual(value, "Bravo")
# Fix to a non-string.
with self.assertRaises(RuntimeError):
# A RuntimeError occurs when the Context detects that the
# type-erased Value objects are incompatible.
input_port.FixValue(context, AbstractValue.Make(1))
with self.assertRaises(TypeError):
# A TypeError occurs when pybind Value.set_value cannot match any
# overload for how to assign the argument into the erased storage.
input_port.FixValue(context, 1)
with self.assertRaises(TypeError):
input_port.FixValue(context, np.array([2.]))
def test_abstract_input_port_eval(self):
model_value = AbstractValue.Make("Hello World")
system = PassThrough(copy.copy(model_value))
context = system.CreateDefaultContext()
fixed = system.get_input_port(0).FixValue(context,
copy.copy(model_value))
self.assertIsInstance(fixed.GetMutableData(), AbstractValue)
input_port = system.get_input_port(0)
value = input_port.Eval(context)
self.assertEqual(type(value), type(model_value.get_value()))
self.assertEqual(value, model_value.get_value())
value_abs = input_port.EvalAbstract(context)
self.assertEqual(type(value_abs), type(model_value))
self.assertEqual(value_abs.get_value(), model_value.get_value())
def test_abstract_input_port_fix_string(self):
model_value = AbstractValue.Make("")
system = PassThrough(copy.copy(model_value))
context = system.CreateDefaultContext()
input_port = system.get_input_port(0)
# Fix to a literal.
input_port.FixValue(context, "Alpha")
value = input_port.Eval(context)
self.assertEqual(type(value), type(model_value.get_value()))
self.assertEqual(value, "Alpha")
# Fix to a type-erased string.
input_port.FixValue(context, AbstractValue.Make("Bravo"))
value = input_port.Eval(context)
self.assertEqual(type(value), type(model_value.get_value()))
self.assertEqual(value, "Bravo")
# Fix to a non-string.
with self.assertRaises(RuntimeError):
# A RuntimeError occurs when the Context detects that the
# type-erased Value objects are incompatible.
input_port.FixValue(context, AbstractValue.Make(1))
with self.assertRaises(TypeError):
# A TypeError occurs when pybind Value.set_value cannot match any
# overload for how to assign the argument into the erased storage.
input_port.FixValue(context, 1)
with self.assertRaises(TypeError):
input_port.FixValue(context, np.array([2.]))
def test_vector_input_port_eval(self):
np_value = np.array([1., 2., 3.])
model_value = AbstractValue.Make(BasicVector(np_value))
system = PassThrough(len(np_value))
context = system.CreateDefaultContext()
system.get_input_port(0).FixValue(context, np_value)
input_port = system.get_input_port(0)
value = input_port.Eval(context)
self.assertEqual(type(value), np.ndarray)
np.testing.assert_equal(value, np_value)
value_abs = input_port.EvalAbstract(context)
self.assertEqual(type(value_abs), type(model_value))
self.assertEqual(type(value_abs.get_value().get_value()), np.ndarray)
np.testing.assert_equal(value_abs.get_value().get_value(), np_value)
basic = input_port.EvalBasicVector(context)
self.assertEqual(type(basic), BasicVector)
self.assertEqual(type(basic.get_value()), np.ndarray)
np.testing.assert_equal(basic.get_value(), np_value)
def test_abstract_input_port_eval(self):
model_value = AbstractValue.Make("Hello World")
system = PassThrough(copy.copy(model_value))
context = system.CreateDefaultContext()
fixed = context.FixInputPort(0, copy.copy(model_value))
self.assertIsInstance(fixed.GetMutableData(), AbstractValue)
input_port = system.get_input_port(0)
value = input_port.Eval(context)
self.assertEqual(type(value), type(model_value.get_value()))
self.assertEqual(value, model_value.get_value())
value_abs = input_port.EvalAbstract(context)
self.assertEqual(type(value_abs), type(model_value))
self.assertEqual(value_abs.get_value(), model_value.get_value())
def test_vector_input_port_fix(self):
np_zeros = np.array([0.])
model_value = AbstractValue.Make(BasicVector(np_zeros))
system = PassThrough(len(np_zeros))
context = system.CreateDefaultContext()
input_port = system.get_input_port(0)
# Fix to a scalar.
input_port.FixValue(context, 1.)
value = input_port.Eval(context)
self.assertEqual(type(value), np.ndarray)
np.testing.assert_equal(value, np.array([1.]))
# Fix to an ndarray.
input_port.FixValue(context, np.array([2.]))
value = input_port.Eval(context)
self.assertEqual(type(value), np.ndarray)
np.testing.assert_equal(value, np.array([2.]))
# Fix to a BasicVector.
input_port.FixValue(context, BasicVector([3.]))
value = input_port.Eval(context)
self.assertEqual(type(value), np.ndarray)
np.testing.assert_equal(value, np.array([3.]))
# Fix to a type-erased BasicVector.
input_port.FixValue(context, AbstractValue.Make(BasicVector([4.])))
value = input_port.Eval(context)
self.assertEqual(type(value), np.ndarray)
np.testing.assert_equal(value, np.array([4.]))
# Fix to wrong-sized vector.
with self.assertRaises(RuntimeError):
input_port.FixValue(context, np.array([0., 1.]))
with self.assertRaises(RuntimeError):
input_port.FixValue(
context, AbstractValue.Make(BasicVector([0., 1.])))
# Fix to a non-vector.
with self.assertRaises(TypeError):
# A TypeError occurs when pybind Value.set_value cannot match any
# overload for how to assign the argument into the erased storage.
input_port.FixValue(context, "string")
with self.assertRaises(RuntimeError):
# A RuntimeError occurs when the Context detects that the
# type-erased Value objects are incompatible.
input_port.FixValue(context, AbstractValue.Make("string"))
def test_vector_input_port_fix(self):
np_zeros = np.array([0.])
model_value = AbstractValue.Make(BasicVector(np_zeros))
system = PassThrough(len(np_zeros))
context = system.CreateDefaultContext()
input_port = system.get_input_port(0)
# Fix to a scalar.
input_port.FixValue(context, 1.)
value = input_port.Eval(context)
self.assertEqual(type(value), np.ndarray)
np.testing.assert_equal(value, np.array([1.]))
# Fix to an ndarray.
input_port.FixValue(context, np.array([2.]))
value = input_port.Eval(context)
self.assertEqual(type(value), np.ndarray)
np.testing.assert_equal(value, np.array([2.]))
# Fix to a BasicVector.
input_port.FixValue(context, BasicVector([3.]))
value = input_port.Eval(context)
self.assertEqual(type(value), np.ndarray)
np.testing.assert_equal(value, np.array([3.]))
# Fix to a type-erased BasicVector.
input_port.FixValue(context, AbstractValue.Make(BasicVector([4.])))
value = input_port.Eval(context)
self.assertEqual(type(value), np.ndarray)
np.testing.assert_equal(value, np.array([4.]))
# Fix to wrong-sized vector.
with self.assertRaises(RuntimeError):
input_port.FixValue(context, np.array([0., 1.]))
with self.assertRaises(RuntimeError):
input_port.FixValue(
context, AbstractValue.Make(BasicVector([0., 1.])))
# Fix to a non-vector.
with self.assertRaises(TypeError):
# A TypeError occurs when pybind Value.set_value cannot match any
# overload for how to assign the argument into the erased storage.
input_port.FixValue(context, "string")
with self.assertRaises(RuntimeError):
# A RuntimeError occurs when the Context detects that the
# type-erased Value objects are incompatible.
input_port.FixValue(context, AbstractValue.Make("string"))
def test_vector_input_port_eval(self):
np_value = np.array([1., 2., 3.])
model_value = AbstractValue.Make(BasicVector(np_value))
system = PassThrough(len(np_value))
context = system.CreateDefaultContext()
context.FixInputPort(0, np_value)
input_port = system.get_input_port(0)
value = input_port.Eval(context)
self.assertEqual(type(value), np.ndarray)
np.testing.assert_equal(value, np_value)
value_abs = input_port.EvalAbstract(context)
self.assertEqual(type(value_abs), type(model_value))
self.assertEqual(type(value_abs.get_value().get_value()), np.ndarray)
np.testing.assert_equal(value_abs.get_value().get_value(), np_value)
basic = input_port.EvalBasicVector(context)
self.assertEqual(type(basic), BasicVector)
self.assertEqual(type(basic.get_value()), np.ndarray)
np.testing.assert_equal(basic.get_value(), np_value)
def test_abstract_input_port_fix_object(self):
# The port type is py::object, not any specific C++ type.
model_value = AbstractValue.Make(object())
system = PassThrough(copy.copy(model_value))
context = system.CreateDefaultContext()
input_port = system.get_input_port(0)
# Fix to a type-erased py::object.
input_port.FixValue(context, AbstractValue.Make(object()))
# Fix to an int.
input_port.FixValue(context, 1)
value = input_port.Eval(context)
self.assertEqual(type(value), int)
self.assertEqual(value, 1)
# Fixing to an explicitly-typed Value instantiation is an error ...
with self.assertRaises(RuntimeError):
input_port.FixValue(context, AbstractValue.Make("string"))
# ... but implicit typing works just fine.
input_port.FixValue(context, "string")
value = input_port.Eval(context)
self.assertEqual(type(value), str)
self.assertEqual(value, "string")
def test_abstract_input_port_fix_object(self):
# The port type is py::object, not any specific C++ type.
model_value = AbstractValue.Make(object())
system = PassThrough(copy.copy(model_value))
context = system.CreateDefaultContext()
input_port = system.get_input_port(0)
# Fix to a type-erased py::object.
input_port.FixValue(context, AbstractValue.Make(object()))
# Fix to an int.
input_port.FixValue(context, 1)
value = input_port.Eval(context)
self.assertEqual(type(value), int)
self.assertEqual(value, 1)
# Fixing to an explicitly-typed Value instantation is an error ...
with self.assertRaises(RuntimeError):
input_port.FixValue(context, AbstractValue.Make("string"))
# ... but implicit typing works just fine.
input_port.FixValue(context, "string")
value = input_port.Eval(context)
self.assertEqual(type(value), str)
self.assertEqual(value, "string")
