def test_default_parameters(self):
controller = AcrobotSpongController()
context = controller.CreateDefaultContext()
expected_parameters = SpongControllerParams()
actual_parameters = controller.get_parameters(context)
self.assertEqual(actual_parameters.k_e(), expected_parameters.k_e())
self.assertEqual(actual_parameters.k_p(), expected_parameters.k_p())
self.assertEqual(actual_parameters.k_d(), expected_parameters.k_d())
self.assertEqual(actual_parameters.balancing_threshold(),
expected_parameters.balancing_threshold())
def test_param_accessors(self):
controller = AcrobotSpongController()
context = controller.CreateDefaultContext()
controller.get_mutable_parameters(context).set_k_e(1.)
actual_parameters = controller.get_parameters(context)
self.assertEqual(actual_parameters.k_e(), 1.)