def test_scalar_type_conversion(self):
float_system = Adder(1, 1)
float_context = float_system.CreateDefaultContext()
float_system.get_input_port(0).FixValue(float_context, 1.)
for T in [float, AutoDiffXd, Expression]:
system = Adder_[T](1, 1)
# N.B. Current scalar conversion does not permit conversion to and
# from the same type.
if T != AutoDiffXd:
methods = [Adder_[T].ToAutoDiffXd, Adder_[T].ToAutoDiffXdMaybe]
for method in methods:
system_ad = method(system)
self.assertIsInstance(system_ad, System_[AutoDiffXd])
self._compare_system_instances(system, system_ad)
if T != Expression:
methods = [Adder_[T].ToSymbolic, Adder_[T].ToSymbolicMaybe]
for method in methods:
system_sym = method(system)
self.assertIsInstance(system_sym, System_[Expression])
self._compare_system_instances(system, system_sym)
context = system.CreateDefaultContext()
system.FixInputPortsFrom(other_system=float_system,
other_context=float_context,
target_context=context)
u = system.get_input_port(0).Eval(context)
self.assertEqual(len(u), 1)
if T == float:
self.assertEqual(u[0], 1.)
elif T == AutoDiffXd:
self.assertEqual(u[0].value(), 1.)
else:
self.assertEqual(u[0].Evaluate(), 1.)
def test_ownership_vector(self):
system = Adder(1, 1)
context = system.CreateDefaultContext()
info = Info()
vector = DeleteListenerVector(info.record_deletion)
system.get_input_port(0).FixValue(context, vector)
del context
# Same as above applications, using `py::keep_alive`.
self.assertFalse(info.deleted)
self.assertTrue(vector is not None)
# Ensure that we do not get segfault behavior when accessing / mutating
# the values.
self.assertTrue(np.allclose(vector.get_value(), [0.]))
vector.get_mutable_value()[:] = [10.]
self.assertTrue(np.allclose(vector.get_value(), [10.]))
def __init__(self, num_inputs, size):
Diagram.__init__(self)
builder = DiagramBuilder()
adder = Adder(num_inputs, size)
builder.AddSystem(adder)
builder.ExportOutput(adder.get_output_port(0))
for i in range(num_inputs):
builder.ExportInput(adder.get_input_port(i))
builder.BuildInto(self)
def __init__(self, num_inputs, size):
Diagram.__init__(self)
builder = DiagramBuilder()
adder = Adder(num_inputs, size)
builder.AddSystem(adder)
builder.ExportOutput(adder.get_output_port(0))
for i in range(num_inputs):
builder.ExportInput(adder.get_input_port(i))
builder.BuildInto(self)