def test_simulator_integrator_manipulation(self):
# TODO(eric.cousineau): Move this to `analysis_test.py`.
system = ConstantVectorSource([1])
# Create simulator with basic constructor.
simulator = Simulator(system)
simulator.Initialize()
simulator.set_target_realtime_rate(0)
integrator = simulator.get_mutable_integrator()
target_accuracy = 1E-6
integrator.set_target_accuracy(target_accuracy)
self.assertEqual(integrator.get_target_accuracy(), target_accuracy)
maximum_step_size = 0.2
integrator.set_maximum_step_size(maximum_step_size)
self.assertEqual(integrator.get_maximum_step_size(), maximum_step_size)
minimum_step_size = 2E-2
integrator.set_requested_minimum_step_size(minimum_step_size)
self.assertEqual(integrator.get_requested_minimum_step_size(),
minimum_step_size)
integrator.set_throw_on_minimum_step_size_violation(True)
self.assertTrue(integrator.get_throw_on_minimum_step_size_violation())
integrator.set_fixed_step_mode(True)
self.assertTrue(integrator.get_fixed_step_mode())
const_integrator = simulator.get_integrator()
self.assertTrue(const_integrator is integrator)
# Test context-less constructors for
# integrator types.
test_integrator = RungeKutta2Integrator(
system=system, max_step_size=0.01)
test_integrator = RungeKutta3Integrator(system=system)
# Test simulator's reset_integrator, and also the full constructors for
# all integrator types.
rk2 = RungeKutta2Integrator(
system=system,
max_step_size=0.01,
context=simulator.get_mutable_context())
with catch_drake_warnings(expected_count=1):
# TODO(12873) We need an API for this that isn't deprecated.
simulator.reset_integrator(rk2)
rk3 = RungeKutta3Integrator(
system=system,
context=simulator.get_mutable_context())
with catch_drake_warnings(expected_count=1):
# TODO(12873) We need an API for this that isn't deprecated.
simulator.reset_integrator(rk3)
def test_simulator_integrator_manipulation(self):
system = ConstantVectorSource([1])
# Create simulator with basic constructor.
simulator = Simulator(system)
simulator.Initialize()
simulator.set_target_realtime_rate(0)
integrator = simulator.get_mutable_integrator()
target_accuracy = 1E-6
integrator.set_target_accuracy(target_accuracy)
self.assertEqual(integrator.get_target_accuracy(), target_accuracy)
maximum_step_size = 0.2
integrator.set_maximum_step_size(maximum_step_size)
self.assertEqual(integrator.get_maximum_step_size(), maximum_step_size)
minimum_step_size = 2E-2
integrator.set_requested_minimum_step_size(minimum_step_size)
self.assertEqual(integrator.get_requested_minimum_step_size(),
minimum_step_size)
integrator.set_throw_on_minimum_step_size_violation(True)
self.assertTrue(integrator.get_throw_on_minimum_step_size_violation())
integrator.set_fixed_step_mode(True)
self.assertTrue(integrator.get_fixed_step_mode())
const_integrator = simulator.get_integrator()
self.assertTrue(const_integrator is integrator)
# Test context-less constructors for
# integrator types.
test_integrator = RungeKutta2Integrator(
system=system, max_step_size=0.01)
test_integrator = RungeKutta3Integrator(system=system)
# Test simulator's reset_integrator,
# and also the full constructors for
# all integrator types.
simulator.reset_integrator(
RungeKutta2Integrator(
system=system,
max_step_size=0.01,
context=simulator.get_mutable_context()))
simulator.reset_integrator(
RungeKutta3Integrator(
system=system,
context=simulator.get_mutable_context()))
def test_simulator_integrator_manipulation(self):
system = ConstantVectorSource([1])
# Create simulator with basic constructor.
simulator = Simulator(system)
simulator.Initialize()
simulator.set_target_realtime_rate(0)
integrator = simulator.get_mutable_integrator()
target_accuracy = 1E-6
integrator.set_target_accuracy(target_accuracy)
self.assertEqual(integrator.get_target_accuracy(), target_accuracy)
maximum_step_size = 0.2
integrator.set_maximum_step_size(maximum_step_size)
self.assertEqual(integrator.get_maximum_step_size(), maximum_step_size)
minimum_step_size = 2E-2
integrator.set_requested_minimum_step_size(minimum_step_size)
self.assertEqual(integrator.get_requested_minimum_step_size(),
minimum_step_size)
integrator.set_throw_on_minimum_step_size_violation(True)
self.assertTrue(integrator.get_throw_on_minimum_step_size_violation())
integrator.set_fixed_step_mode(True)
self.assertTrue(integrator.get_fixed_step_mode())
const_integrator = simulator.get_integrator()
self.assertTrue(const_integrator is integrator)
# Test context-less constructors for
# integrator types.
test_integrator = RungeKutta2Integrator(
system=system, max_step_size=0.01)
test_integrator = RungeKutta3Integrator(system=system)
# Test simulator's reset_integrator,
# and also the full constructors for
# all integrator types.
simulator.reset_integrator(
RungeKutta2Integrator(
system=system,
max_step_size=0.01,
context=simulator.get_mutable_context()))
simulator.reset_integrator(
RungeKutta3Integrator(
system=system,
context=simulator.get_mutable_context()))