def test_form_2():
symsystem2 = SymbolicSystem(coordinates,
comb_implicit_rhs,
speeds=speeds,
mass_matrix=comb_implicit_mat,
alg_con=alg_con_full,
output_eqns=out_eqns,
bodies=bodies,
loads=loads)
assert symsystem2.coordinates == Matrix([x, y, lam])
assert symsystem2.speeds == Matrix([u, v])
assert symsystem2.states == Matrix([x, y, lam, u, v])
assert symsystem2.alg_con == [4]
inter = comb_implicit_rhs
assert simplify(symsystem2.comb_implicit_rhs - inter) == zeros(5, 1)
assert simplify(symsystem2.comb_implicit_mat -
comb_implicit_mat) == zeros(5)
assert set(symsystem2.dynamic_symbols()) == set([y, v, lam, u, x])
assert type(symsystem2.dynamic_symbols()) == tuple
assert set(symsystem2.constant_symbols()) == set([l, g, m])
assert type(symsystem2.constant_symbols()) == tuple
inter = comb_explicit_rhs
symsystem2.compute_explicit_form()
assert simplify(symsystem2.comb_explicit_rhs - inter) == zeros(5, 1)
assert symsystem2.output_eqns == out_eqns
assert symsystem2.bodies == (Pa, )
assert symsystem2.loads == ((P, g * m * N.x), )
def test_form_2():
symsystem2 = SymbolicSystem(coordinates, comb_implicit_rhs, speeds=speeds,
mass_matrix=comb_implicit_mat,
alg_con=alg_con_full, output_eqns=out_eqns,
bodies=bodies, loads=loads)
assert symsystem2.coordinates == Matrix([x, y, lam])
assert symsystem2.speeds == Matrix([u, v])
assert symsystem2.states == Matrix([x, y, lam, u, v])
assert symsystem2.alg_con == [4]
inter = comb_implicit_rhs
assert simplify(symsystem2.comb_implicit_rhs - inter) == zeros(5, 1)
assert simplify(symsystem2.comb_implicit_mat-comb_implicit_mat) == zeros(5)
assert set(symsystem2.dynamic_symbols()) == set([y, v, lam, u, x])
assert type(symsystem2.dynamic_symbols()) == tuple
assert set(symsystem2.constant_symbols()) == set([l, g, m])
assert type(symsystem2.constant_symbols()) == tuple
inter = comb_explicit_rhs
symsystem2.compute_explicit_form()
assert simplify(symsystem2.comb_explicit_rhs - inter) == zeros(5, 1)
assert symsystem2.output_eqns == out_eqns
assert symsystem2.bodies == (Pa,)
assert symsystem2.loads == ((P, g * m * N.x),)
def test_not_specified_errors():
"""This test will cover errors that arise from trying to access attributes
that were not specificed upon object creation or were specified on creation
and the user trys to recalculate them."""
# Trying to access form 2 when form 1 given
# Trying to access form 3 when form 2 given
symsystem1 = SymbolicSystem(states, comb_explicit_rhs)
with raises(AttributeError):
symsystem1.comb_implicit_mat
with raises(AttributeError):
symsystem1.comb_implicit_rhs
with raises(AttributeError):
symsystem1.dyn_implicit_mat
with raises(AttributeError):
symsystem1.dyn_implicit_rhs
with raises(AttributeError):
symsystem1.kin_explicit_rhs
with raises(AttributeError):
symsystem1.compute_explicit_form()
symsystem2 = SymbolicSystem(coordinates,
comb_implicit_rhs,
speeds=speeds,
mass_matrix=comb_implicit_mat)
with raises(AttributeError):
symsystem2.dyn_implicit_mat
with raises(AttributeError):
symsystem2.dyn_implicit_rhs
with raises(AttributeError):
symsystem2.kin_explicit_rhs
# Attribute error when trying to access coordinates and speeds when only the
# states were given.
with raises(AttributeError):
symsystem1.coordinates
with raises(AttributeError):
symsystem1.speeds
# Attribute error when trying to access bodies and loads when they are not
# given
with raises(AttributeError):
symsystem1.bodies
with raises(AttributeError):
symsystem1.loads
# Attribute error when trying to access comb_explicit_rhs before it was
# calculated
with raises(AttributeError):
symsystem2.comb_explicit_rhs
def test_not_specified_errors():
"""This test will cover errors that arise from trying to access attributes
that were not specified upon object creation or were specified on creation
and the user trys to recalculate them."""
# Trying to access form 2 when form 1 given
# Trying to access form 3 when form 2 given
symsystem1 = SymbolicSystem(states, comb_explicit_rhs)
with raises(AttributeError):
symsystem1.comb_implicit_mat
with raises(AttributeError):
symsystem1.comb_implicit_rhs
with raises(AttributeError):
symsystem1.dyn_implicit_mat
with raises(AttributeError):
symsystem1.dyn_implicit_rhs
with raises(AttributeError):
symsystem1.kin_explicit_rhs
with raises(AttributeError):
symsystem1.compute_explicit_form()
symsystem2 = SymbolicSystem(coordinates, comb_implicit_rhs, speeds=speeds,
mass_matrix=comb_implicit_mat)
with raises(AttributeError):
symsystem2.dyn_implicit_mat
with raises(AttributeError):
symsystem2.dyn_implicit_rhs
with raises(AttributeError):
symsystem2.kin_explicit_rhs
# Attribute error when trying to access coordinates and speeds when only the
# states were given.
with raises(AttributeError):
symsystem1.coordinates
with raises(AttributeError):
symsystem1.speeds
# Attribute error when trying to access bodies and loads when they are not
# given
with raises(AttributeError):
symsystem1.bodies
with raises(AttributeError):
symsystem1.loads
# Attribute error when trying to access comb_explicit_rhs before it was
# calculated
with raises(AttributeError):
symsystem2.comb_explicit_rhs
def test_form_3():
symsystem3 = SymbolicSystem(
states,
dyn_implicit_rhs,
mass_matrix=dyn_implicit_mat,
coordinate_derivatives=kin_explicit_rhs,
alg_con=alg_con,
coord_idxs=coord_idxs,
speed_idxs=speed_idxs,
bodies=bodies,
loads=loads,
)
assert symsystem3.coordinates == Matrix([x, y])
assert symsystem3.speeds == Matrix([u, v])
assert symsystem3.states == Matrix([x, y, u, v, lam])
assert symsystem3.alg_con == [4]
inter1 = kin_explicit_rhs
inter2 = dyn_implicit_rhs
assert simplify(symsystem3.kin_explicit_rhs - inter1) == zeros(2, 1)
assert simplify(symsystem3.dyn_implicit_mat - dyn_implicit_mat) == zeros(3)
assert simplify(symsystem3.dyn_implicit_rhs - inter2) == zeros(3, 1)
inter = comb_implicit_rhs
assert simplify(symsystem3.comb_implicit_rhs - inter) == zeros(5, 1)
assert simplify(symsystem3.comb_implicit_mat -
comb_implicit_mat) == zeros(5)
inter = comb_explicit_rhs
symsystem3.compute_explicit_form()
assert simplify(symsystem3.comb_explicit_rhs - inter) == zeros(5, 1)
assert set(symsystem3.dynamic_symbols()) == set([y, v, lam, u, x])
assert type(symsystem3.dynamic_symbols()) == tuple
assert set(symsystem3.constant_symbols()) == set([l, g, m])
assert type(symsystem3.constant_symbols()) == tuple
assert symsystem3.output_eqns == {}
assert symsystem3.bodies == (Pa, )
assert symsystem3.loads == ((P, g * m * N.x), )
def test_form_3():
symsystem3 = SymbolicSystem(
states,
dyn_implicit_rhs,
mass_matrix=dyn_implicit_mat,
coordinate_derivatives=kin_explicit_rhs,
alg_con=alg_con,
coord_idxs=coord_idxs,
speed_idxs=speed_idxs,
bodies=bodies,
loads=loads,
)
assert symsystem3.coordinates == Matrix([x, y])
assert symsystem3.speeds == Matrix([u, v])
assert symsystem3.states == Matrix([x, y, u, v, lam])
assert symsystem3.alg_con == [4]
inter1 = kin_explicit_rhs
inter2 = dyn_implicit_rhs
assert simplify(symsystem3.kin_explicit_rhs - inter1) == zeros(2, 1)
assert simplify(symsystem3.dyn_implicit_mat - dyn_implicit_mat) == zeros(3)
assert simplify(symsystem3.dyn_implicit_rhs - inter2) == zeros(3, 1)
inter = comb_implicit_rhs
assert simplify(symsystem3.comb_implicit_rhs - inter) == zeros(5, 1)
assert simplify(symsystem3.comb_implicit_mat - comb_implicit_mat) == zeros(5)
inter = comb_explicit_rhs
symsystem3.compute_explicit_form()
assert simplify(symsystem3.comb_explicit_rhs - inter) == zeros(5, 1)
assert set(symsystem3.dynamic_symbols()) == set([y, v, lam, u, x])
assert type(symsystem3.dynamic_symbols()) == tuple
assert set(symsystem3.constant_symbols()) == set([l, g, m])
assert type(symsystem3.constant_symbols()) == tuple
assert symsystem3.output_eqns == {}
assert symsystem3.bodies == (Pa,)
assert symsystem3.loads == ((P, g * m * N.x),)