def initialize(self, io):
self.nsds = io._model.nonSmoothDynamicalSystem()
self.topo = self.nsds.topology()
self.joint1_inter = self.topo.getInteraction('joint1')
self.joint1 = Mechanics.joints.cast_NewtonEulerJointR(
self.joint1_inter.relation())
self.bar = self.topo.getDynamicalSystem('bar')
self.post = self.topo.getDynamicalSystem('post')
self.y = Kernel.SiconosVector(5)
self.yDoF = Kernel.SiconosVector(1)
self.jachq = Kernel.SimpleMatrix(1, 14)
def test_getVector():
assert (sk.getVector([1, 2, 3]) == np.array([1, 2, 3])).all()
v = sk.SiconosVector(3)
v.setValue(0, 1)
v.setValue(1, 2)
v.setValue(2, 4)
assert (sk.getVector(v) != np.array([1, 2, 3])).any()
assert (sk.getVector(v) == np.array([1, 2, 4])).all()
v1 = sk.SiconosVector([1, 2, 3])
v2 = sk.SiconosVector(np.asarray([1, 2, 3]))
assert (sk.getVector(v1) == sk.getVector(v2)).all()
def test_castVector():
i = [1.0, 4.0, 3.0]
v = sk.SiconosVector([1, 2, 3])
assert str(v) == '[3](1,2,3)'
repr(v)
assert v[0] == 1.0
try:
v[5]
raise Exception("expected IndexError")
except IndexError:
pass
v[1] = 4
assert v[1] == 4.0
try:
v[4] = 5
raise Exception("expected IndexError")
except IndexError:
pass
for x, y in zip(v, i):
assert x == y
for x, y in zip(list(v), i):
assert x == y
for x, y in zip(np.array(v), i):
assert x == y
assert 3.0 in v
assert 5.0 not in v
def initialize(self, io):
ang_force = 6.0
self.io = io
topo = io._nsds.topology()
self.wheels = [
topo.getDynamicalSystem('wheel%d' % i) for i in [1, 2, 3, 4]
]
self.wheel_const = np.array(self.wheels[0].fExt())
self.wheel_force = Kernel.SiconosVector(3)
self.wheel_force.setVector(0, self.wheel_const)
self.wheel_torque = Kernel.SiconosVector(3)
self.wheel_torque.setValue(1, ang_force)
# Same force and torque to all wheels
[w.setFExtPtr(self.wheel_force) for w in self.wheels]
[w.setMExtPtr(self.wheel_torque) for w in self.wheels]
