def setUp(self):
self.co = ContactOscillator()
def setUp(self):
self.sys = 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)
