def test_state_output_port_declarations(self):
"""Checks that DeclareStateOutputPort is bound."""
dut = LeafSystem()
xc_index = dut.DeclareContinuousState(2)
xc_port = dut.DeclareStateOutputPort(name="xc", state_index=xc_index)
self.assertEqual(xc_port.size(), 2)
xd_index = dut.DeclareDiscreteState(3)
xd_port = dut.DeclareStateOutputPort(name="xd", state_index=xd_index)
self.assertEqual(xd_port.size(), 3)
xa_index = dut.DeclareAbstractState(AbstractValue.Make(1))
xa_port = dut.DeclareStateOutputPort(name="xa", state_index=xa_index)
self.assertEqual(xa_port.get_name(), "xa")
def test_leaf_system_per_item_tickets(self):
dut = LeafSystem()
dut.DeclareAbstractParameter(AbstractValue.Make(1))
dut.DeclareAbstractState(AbstractValue.Make(1))
dut.DeclareDiscreteState(1)
dut.DeclareVectorInputPort("u0", BasicVector(1))
dut.DeclareNumericParameter(BasicVector(1))
for func, arg in [
(dut.abstract_parameter_ticket, AbstractParameterIndex(0)),
(dut.abstract_state_ticket, AbstractStateIndex(0)),
(dut.cache_entry_ticket, CacheIndex(0)),
(dut.discrete_state_ticket, DiscreteStateIndex(0)),
(dut.input_port_ticket, InputPortIndex(0)),
(dut.numeric_parameter_ticket, NumericParameterIndex(0)),
]:
self.assertIsInstance(func(arg), DependencyTicket, func)