def test_event_api(self):
# TriggerType - existence check.
TriggerType.kUnknown
TriggerType.kInitialization
TriggerType.kForced
TriggerType.kTimed
TriggerType.kPeriodic
TriggerType.kPerStep
TriggerType.kWitness
# PublishEvent.
# TODO(eric.cousineau): Test other event types when it is useful to
# expose them.
def callback(context, event):
pass
event = PublishEvent(callback=callback)
self.assertIsInstance(event, Event)
event = PublishEvent(trigger_type=TriggerType.kInitialization,
callback=callback)
self.assertIsInstance(event, Event)
self.assertEqual(event.get_trigger_type(), TriggerType.kInitialization)
def system_callback(system, context, event):
pass
event = PublishEvent(system_callback=system_callback)
self.assertIsInstance(event, Event)
event = PublishEvent(trigger_type=TriggerType.kInitialization,
system_callback=system_callback)
self.assertIsInstance(event, Event)
self.assertEqual(event.get_trigger_type(), TriggerType.kInitialization)
# Simple discrete-time system.
system1 = LinearSystem(A=[1], B=[1], C=[1], D=[1], time_period=0.1)
periodic_data = system1.GetUniquePeriodicDiscreteUpdateAttribute()
self.assertIsInstance(periodic_data, PeriodicEventData)
self.assertIsInstance(periodic_data.Clone(), PeriodicEventData)
periodic_data.period_sec()
periodic_data.offset_sec()
is_diff_eq, period = system1.IsDifferenceEquationSystem()
self.assertTrue(is_diff_eq)
self.assertEqual(period, periodic_data.period_sec())
# Simple continuous-time system.
system2 = LinearSystem(A=[1], B=[1], C=[1], D=[1], time_period=0.0)
periodic_data = system2.GetUniquePeriodicDiscreteUpdateAttribute()
self.assertIsNone(periodic_data)
is_diff_eq, period = system2.IsDifferenceEquationSystem()
self.assertFalse(is_diff_eq)
def test_event_api(self):
# TriggerType - existence check.
TriggerType.kUnknown
TriggerType.kInitialization
TriggerType.kForced
TriggerType.kTimed
TriggerType.kPeriodic
TriggerType.kPerStep
TriggerType.kWitness
# PublishEvent.
# TODO(eric.cousineau): Test other event types when it is useful to
# expose them.
def callback(context, event): pass
event = PublishEvent(
trigger_type=TriggerType.kInitialization, callback=callback)
self.assertIsInstance(event, Event)
self.assertEqual(event.get_trigger_type(), TriggerType.kInitialization)
# Simple discrete-time system.
system1 = LinearSystem(A=[1], B=[1], C=[1], D=[1], time_period=0.1)
periodic_data = system1.GetUniquePeriodicDiscreteUpdateAttribute()
self.assertIsInstance(periodic_data, PeriodicEventData)
self.assertIsInstance(periodic_data.Clone(), PeriodicEventData)
periodic_data.period_sec()
periodic_data.offset_sec()
# Simple continuous-time system.
system2 = LinearSystem(A=[1], B=[1], C=[1], D=[1], time_period=0.0)
periodic_data = system2.GetUniquePeriodicDiscreteUpdateAttribute()
self.assertIsNone(periodic_data)
def test_event_api(self):
# TriggerType - existence check.
TriggerType.kUnknown
TriggerType.kInitialization
TriggerType.kForced
TriggerType.kTimed
TriggerType.kPeriodic
TriggerType.kPerStep
TriggerType.kWitness
# PublishEvent.
# TODO(eric.cousineau): Test other event types when it is useful to
# expose them.
def callback(context, event): pass
event = PublishEvent(
trigger_type=TriggerType.kInitialization, callback=callback)
self.assertIsInstance(event, Event)
self.assertEqual(event.get_trigger_type(), TriggerType.kInitialization)
def test_event_api(self):
# TriggerType - existence check.
TriggerType.kUnknown
TriggerType.kInitialization
TriggerType.kForced
TriggerType.kTimed
TriggerType.kPeriodic
TriggerType.kPerStep
TriggerType.kWitness
# PublishEvent.
# TODO(eric.cousineau): Test other event types when it is useful to
# expose them.
def callback(context, event): pass
event = PublishEvent(
trigger_type=TriggerType.kInitialization, callback=callback)
self.assertIsInstance(event, Event)
self.assertEqual(event.get_trigger_type(), TriggerType.kInitialization)
