class Test_ContactOscillator(unittest.TestCase):
def setUp(self):
self.s = 3
self.co = ContactOscillator()
def prepare(self):
u = np.random.rand(7)
us = np.column_stack([u] * self.s)
return u, us
def test_constraint(self):
u, us = self.prepare()
c = self.co.constraint(u)
cs = self.co.constraint(us)
npt.assert_array_almost_equal(cs - c.reshape(-1, 1), 0)
def test_reaction_force(self):
u, us = self.prepare()
r = self.co.reaction_force(u)
rs = self.co.reaction_force(us)
npt.assert_array_almost_equal(rs - r.reshape(-1, 1), 0)
def test_prop_lag(self):
"""
reaction force is proportional to lambda
"""
n = 5
u = np.random.rand(7)
us = np.column_stack([u] * n)
us[-1] = np.linspace(0, 1, 5)
f = self.co.reaction_force(us)
dfs = np.diff(f)
npt.assert_array_almost_equal(dfs - dfs[:, 0:1], 0)
def test_dynamics(self):
u, us = self.prepare()
d = self.co.multi_dynamics(u)
ds = self.co.multi_dynamics(us)
for k in d:
npt.assert_array_almost_equal(ds[k] - d[k].reshape(-1, 1), 0)
def test_initial(self):
z0s = np.linspace(-0.9, 0.9, 10) * np.sqrt(2)
u0 = self.co.initial_cos(z0s[5])
u00 = ContactSystem.initial(self.co, u0)
self.assertFalse(u0 is u00)
npt.assert_almost_equal(u0, u00)
class Test_ContactOscillator(unittest.TestCase):
def setUp(self):
self.s = 3
self.co = ContactOscillator()
def prepare(self):
u = np.random.rand(7)
us = np.column_stack([u] * self.s)
return u, us
def test_constraint(self):
u, us = self.prepare()
c = self.co.constraint(u)
cs = self.co.constraint(us)
npt.assert_array_almost_equal(cs - c.reshape(-1, 1), 0)
def test_reaction_force(self):
u, us = self.prepare()
r = self.co.reaction_force(u)
rs = self.co.reaction_force(us)
npt.assert_array_almost_equal(rs - r.reshape(-1, 1), 0)
def test_prop_lag(self):
"""
reaction force is proportional to lambda
"""
n = 5
u = np.random.rand(7)
us = np.column_stack([u] * n)
us[-1] = np.linspace(0, 1, 5)
f = self.co.reaction_force(us)
dfs = np.diff(f)
npt.assert_array_almost_equal(dfs - dfs[:, 0:1], 0)
def test_dynamics(self):
u, us = self.prepare()
d = self.co.multi_dynamics(u)
ds = self.co.multi_dynamics(us)
for k in d:
npt.assert_array_almost_equal(ds[k] - d[k].reshape(-1, 1), 0)
def test_initial(self):
z0s = np.linspace(-.9, .9, 10) * np.sqrt(2)
u0 = self.co.initial_cos(z0s[5])
u00 = ContactSystem.initial(self.co, u0)
self.assertFalse(u0 is u00)
npt.assert_almost_equal(u0, u00)
class Test_ContactOscillator(object):
def __init__(self, s=3):
self.s = 3
def setUp(self):
self.co = ContactOscillator()
def prepare(self):
u = np.random.rand(7)
us = np.column_stack([u] * self.s)
return u, us
def test_constraint(self):
u, us = self.prepare()
c = self.co.constraint(u)
cs = self.co.constraint(us)
npt.assert_array_almost_equal(cs - c.reshape(-1, 1), 0)
def test_reaction_force(self):
u, us = self.prepare()
r = self.co.reaction_force(u)
rs = self.co.reaction_force(us)
npt.assert_array_almost_equal(rs - r.reshape(-1, 1), 0)
def test_prop_lag(self):
"""
reaction force is proportional to lambda
"""
n = 5
u = np.random.rand(7)
us = np.column_stack([u] * n)
us[-1] = np.linspace(0, 1, 5)
f = self.co.reaction_force(us)
dfs = np.diff(f)
npt.assert_array_almost_equal(dfs - dfs[:, 0:1], 0)
def test_dynamics(self):
u, us = self.prepare()
d = self.co.multi_dynamics(u)
ds = self.co.multi_dynamics(us)
for k in d:
npt.assert_array_almost_equal(ds[k] - d[k].reshape(-1, 1), 0)
class Test_ContactOscillator(object): def __init__(self, s=3): self.s = 3 def setUp(self): self.co = ContactOscillator() def prepare(self): u = np.random.rand(7) us = np.column_stack([u]*self.s) return u, us def test_constraint(self): u, us = self.prepare() c = self.co.constraint(u) cs = self.co.constraint(us) npt.assert_array_almost_equal(cs - c.reshape(-1,1), 0) def test_reaction_force(self): u, us = self.prepare() r = self.co.reaction_force(u) rs = self.co.reaction_force(us) npt.assert_array_almost_equal(rs - r.reshape(-1,1), 0) def test_prop_lag(self): """ reaction force is proportional to lambda """ n = 5 u = np.random.rand(7) us = np.column_stack([u]*n) us[-1] = np.linspace(0,1,5) f = self.co.reaction_force(us) dfs = np.diff(f) npt.assert_array_almost_equal(dfs - dfs[:,0:1], 0) def test_dynamics(self): u, us = self.prepare() d = self.co.multi_dynamics(u) ds = self.co.multi_dynamics(us) for k in d: npt.assert_array_almost_equal(ds[k] - d[k].reshape(-1,1),0)
def setUp(self): self.co = ContactOscillator()
def setUp(self):
self.sys = ContactOscillator()
def setUp(self):
self.co = ContactOscillator()
def test_dynamics(self):
u, us = self.prepare()
d = self.co.multi_dynamics(u)
ds = self.co.multi_dynamics(us)
for k in d:
npt.assert_array_almost_equal(ds[k] - d[k].reshape(-1, 1), 0)
def test_initial(self):
z0s = np.linspace(-.9, .9, 10) * np.sqrt(2)
u0 = self.co.initial_cos(z0s[5])
u00 = ContactSystem.initial(self.co, u0)
self.assertFalse(u0 is u00)
npt.assert_almost_equal(u0, u00)
@pytest.fixture(params=[ContactOscillator(), VerticalRollingDisk()])
def sys(request):
return request.param
def test_constraint(sys, nb_stages=4):
u = np.random.random_sample([sys.size, nb_stages])
constraints = sys.constraint(u)
for U, C in zip(u.T, constraints.T):
npt.assert_array_almost_equal(
np.dot(sys.codistribution(U), sys.velocity(U)), C)
def test_reaction_force(sys, nb_stages=4):
u = np.random.random_sample([sys.size, nb_stages])
force = sys.reaction_force(u)
