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_defaults(self):
params = SpongControllerParams()
self.assertEqual(params.k_e(), 5.)
self.assertEqual(params.k_p(), 50.)
self.assertEqual(params.k_d(), 5.)
self.assertEqual(params.balancing_threshold(), 1000.)
def test_param_accessors(self):
params = SpongControllerParams()
params.set_k_e(1.)
params.set_k_p(2.)
params.set_k_d(3.)
params.set_balancing_threshold(4.)
self.assertEqual(params.k_e(), 1.)
self.assertEqual(params.k_p(), 2.)
self.assertEqual(params.k_d(), 3.)
self.assertEqual(params.balancing_threshold(), 4.)