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_context_api(self):
system = Adder(3, 10)
context = system.CreateDefaultContext()
self.assertIsInstance(context.get_continuous_state(), ContinuousState)
self.assertIsInstance(context.get_mutable_continuous_state(),
ContinuousState)
self.assertIsInstance(context.get_continuous_state_vector(),
VectorBase)
self.assertIsInstance(context.get_mutable_continuous_state_vector(),
VectorBase)
# TODO(eric.cousineau): Consolidate main API tests for `Context` here.
pendulum = PendulumPlant()
context = pendulum.CreateDefaultContext()
self.assertEqual(context.num_numeric_parameter_groups(), 1)
self.assertTrue(context.get_parameters().get_numeric_parameter(0) is
context.get_numeric_parameter(index=0))
self.assertEqual(context.num_abstract_parameters(), 0)
# TODO(russt): Bind _Declare*Parameter or find an example with an
# abstract parameter to actually call this method.
self.assertTrue(hasattr(context, "get_abstract_parameter"))
x = np.array([0.1, 0.2])
context.SetContinuousState(x)
np.testing.assert_equal(
context.get_continuous_state_vector().CopyToVector(), x)
def test_system_base_api(self):
# Test a system with a different number of inputs from outputs.
system = Adder(3, 10)
self.assertEqual(system.get_num_input_ports(), 3)
self.assertEqual(system.get_num_output_ports(), 1)
# Test deprecated methods.
context = system.CreateDefaultContext()
with warnings.catch_warnings(record=True) as w:
c = system.AllocateOutput(context)
self.assertEqual(len(w), 1)
def test_context_api(self):
system = Adder(3, 10)
context = system.CreateDefaultContext()
self.assertIsInstance(context.get_continuous_state(), ContinuousState)
self.assertIsInstance(context.get_mutable_continuous_state(),
ContinuousState)
self.assertIsInstance(context.get_continuous_state_vector(),
VectorBase)
self.assertIsInstance(context.get_mutable_continuous_state_vector(),
VectorBase)
def test_ownership_vector(self):
system = Adder(1, 1)
context = system.CreateDefaultContext()
info = Info()
vector = DeleteListenerVector(info.record_deletion)
context.FixInputPort(0, vector)
del context
# WARNING
self.assertTrue(info.deleted)
self.assertTrue(vector is not None)
def test_ownership_vector(self):
system = Adder(1, 1)
context = system.CreateDefaultContext()
info = Info()
vector = DeleteListenerVector(info.record_deletion)
context.FixInputPort(0, 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 test_context_api(self):
system = Adder(3, 10)
context = system.CreateDefaultContext()
self.assertIsInstance(
context.get_continuous_state(), ContinuousState)
self.assertIsInstance(
context.get_mutable_continuous_state(), ContinuousState)
self.assertIsInstance(
context.get_continuous_state_vector(), VectorBase)
self.assertIsInstance(
context.get_mutable_continuous_state_vector(), VectorBase)
# TODO(eric.cousineau): Consolidate main API tests for `Context` here.
pendulum = PendulumPlant()
context = pendulum.CreateDefaultContext()
self.assertEqual(context.num_numeric_parameter_groups(), 1)
self.assertEqual(pendulum.num_numeric_parameter_groups(), 1)
self.assertTrue(
context.get_parameters().get_numeric_parameter(0) is
context.get_numeric_parameter(index=0))
self.assertEqual(context.num_abstract_parameters(), 0)
self.assertEqual(pendulum.num_numeric_parameter_groups(), 1)
# TODO(russt): Bind _Declare*Parameter or find an example with an
# abstract parameter to actually call this method.
self.assertTrue(hasattr(context, "get_abstract_parameter"))
x = np.array([0.1, 0.2])
context.SetContinuousState(x)
np.testing.assert_equal(
context.get_continuous_state_vector().CopyToVector(), x)
# RimlessWheel has a single discrete variable and a bool abstract
# variable.
rimless = RimlessWheel()
context = rimless.CreateDefaultContext()
x = np.array([1.125])
context.SetDiscreteState(xd=2 * x)
np.testing.assert_equal(
context.get_discrete_state_vector().CopyToVector(), 2 * x)
context.SetDiscreteState(group_index=0, xd=3 * x)
np.testing.assert_equal(
context.get_discrete_state_vector().CopyToVector(), 3 * x)
context.SetAbstractState(index=0, value=True)
value = context.get_abstract_state(0)
self.assertTrue(value.get_value())
context.SetAbstractState(index=0, value=False)
value = context.get_abstract_state(0)
self.assertFalse(value.get_value())
def test_context_api(self):
system = Adder(3, 10)
context = system.AllocateContext()
self.assertIsInstance(
context.get_continuous_state(), ContinuousState)
self.assertIsInstance(
context.get_mutable_continuous_state(), ContinuousState)
self.assertIsInstance(
context.get_continuous_state_vector(), VectorBase)
self.assertIsInstance(
context.get_mutable_continuous_state_vector(), VectorBase)
system.SetDefaultContext(context)
# Check random context method.
system.SetRandomContext(context=context, generator=RandomGenerator())
context = system.CreateDefaultContext()
self.assertIsInstance(
context.get_continuous_state(), ContinuousState)
self.assertIsInstance(
context.get_mutable_continuous_state(), ContinuousState)
self.assertIsInstance(
context.get_continuous_state_vector(), VectorBase)
self.assertIsInstance(
context.get_mutable_continuous_state_vector(), VectorBase)
self.assertTrue(context.is_stateless())
self.assertFalse(context.has_only_continuous_state())
self.assertFalse(context.has_only_discrete_state())
self.assertEqual(context.num_total_states(), 0)
# TODO(eric.cousineau): Consolidate main API tests for `Context` here.
# Test methods with two scalar types.
for T in [float, AutoDiffXd, Expression]:
systemT = Adder_[T](3, 10)
contextT = systemT.CreateDefaultContext()
for U in [float, AutoDiffXd, Expression]:
systemU = Adder_[U](3, 10)
contextU = systemU.CreateDefaultContext()
contextU.SetTime(0.5)
contextT.SetTimeStateAndParametersFrom(contextU)
if T == float:
self.assertEqual(contextT.get_time(), 0.5)
elif T == AutoDiffXd:
self.assertEqual(contextT.get_time().value(), 0.5)
else:
self.assertEqual(contextT.get_time().Evaluate(), 0.5)
pendulum = PendulumPlant()
context = pendulum.CreateDefaultContext()
self.assertEqual(context.num_numeric_parameter_groups(), 1)
self.assertEqual(pendulum.num_numeric_parameter_groups(), 1)
self.assertTrue(
context.get_parameters().get_numeric_parameter(0) is
context.get_numeric_parameter(index=0))
self.assertTrue(
context.get_mutable_parameters().get_mutable_numeric_parameter(
0) is context.get_mutable_numeric_parameter(index=0))
self.assertEqual(context.num_abstract_parameters(), 0)
self.assertEqual(pendulum.num_numeric_parameter_groups(), 1)
# TODO(russt): Bind _Declare*Parameter or find an example with an
# abstract parameter to actually call this method.
self.assertTrue(hasattr(context, "get_abstract_parameter"))
self.assertTrue(hasattr(context, "get_mutable_abstract_parameter"))
context.DisableCaching()
context.EnableCaching()
context.SetAllCacheEntriesOutOfDate()
context.FreezeCache()
self.assertTrue(context.is_cache_frozen())
context.UnfreezeCache()
self.assertFalse(context.is_cache_frozen())
x = np.array([0.1, 0.2])
context.SetContinuousState(x)
np.testing.assert_equal(
context.get_continuous_state().CopyToVector(), x)
np.testing.assert_equal(
context.get_continuous_state_vector().CopyToVector(), x)
context.SetTimeAndContinuousState(0.3, 2*x)
np.testing.assert_equal(context.get_time(), 0.3)
np.testing.assert_equal(
context.get_continuous_state_vector().CopyToVector(), 2*x)
self.assertNotEqual(pendulum.EvalPotentialEnergy(context=context), 0)
self.assertNotEqual(pendulum.EvalKineticEnergy(context=context), 0)
# RimlessWheel has a single discrete variable and a bool abstract
# variable.
rimless = RimlessWheel()
context = rimless.CreateDefaultContext()
x = np.array([1.125])
context.SetDiscreteState(xd=2 * x)
np.testing.assert_equal(
context.get_discrete_state_vector().CopyToVector(), 2 * x)
context.SetDiscreteState(group_index=0, xd=3 * x)
np.testing.assert_equal(
context.get_discrete_state_vector().CopyToVector(), 3 * x)
def check_abstract_value_zero(context, expected_value):
# Check through Context, State, and AbstractValues APIs.
self.assertEqual(context.get_abstract_state(index=0).get_value(),
expected_value)
self.assertEqual(context.get_abstract_state().get_value(
index=0).get_value(), expected_value)
self.assertEqual(context.get_state().get_abstract_state()
.get_value(index=0).get_value(), expected_value)
context.SetAbstractState(index=0, value=True)
check_abstract_value_zero(context, True)
context.SetAbstractState(index=0, value=False)
check_abstract_value_zero(context, False)
value = context.get_mutable_state().get_mutable_abstract_state()\
.get_mutable_value(index=0)
value.set_value(True)
check_abstract_value_zero(context, True)
def test_context_api(self):
system = Adder(3, 10)
context = system.AllocateContext()
self.assertIsInstance(context.get_continuous_state(), ContinuousState)
self.assertIsInstance(context.get_mutable_continuous_state(),
ContinuousState)
self.assertIsInstance(context.get_continuous_state_vector(),
VectorBase)
self.assertIsInstance(context.get_mutable_continuous_state_vector(),
VectorBase)
context = system.CreateDefaultContext()
self.assertIsInstance(context.get_continuous_state(), ContinuousState)
self.assertIsInstance(context.get_mutable_continuous_state(),
ContinuousState)
self.assertIsInstance(context.get_continuous_state_vector(),
VectorBase)
self.assertIsInstance(context.get_mutable_continuous_state_vector(),
VectorBase)
# TODO(eric.cousineau): Consolidate main API tests for `Context` here.
# Test methods with two scalar types.
for T in [float, AutoDiffXd, Expression]:
systemT = Adder_[T](3, 10)
contextT = systemT.CreateDefaultContext()
for U in [float, AutoDiffXd, Expression]:
systemU = Adder_[U](3, 10)
contextU = systemU.CreateDefaultContext()
contextU.SetTime(0.5)
contextT.SetTimeStateAndParametersFrom(contextU)
if T == float:
self.assertEqual(contextT.get_time(), 0.5)
elif T == AutoDiffXd:
self.assertEqual(contextT.get_time().value(), 0.5)
else:
self.assertEqual(contextT.get_time().Evaluate(), 0.5)
pendulum = PendulumPlant()
context = pendulum.CreateDefaultContext()
self.assertEqual(context.num_numeric_parameter_groups(), 1)
self.assertEqual(pendulum.num_numeric_parameter_groups(), 1)
self.assertTrue(context.get_parameters().get_numeric_parameter(0) is
context.get_numeric_parameter(index=0))
self.assertEqual(context.num_abstract_parameters(), 0)
self.assertEqual(pendulum.num_numeric_parameter_groups(), 1)
# TODO(russt): Bind _Declare*Parameter or find an example with an
# abstract parameter to actually call this method.
self.assertTrue(hasattr(context, "get_abstract_parameter"))
x = np.array([0.1, 0.2])
context.SetContinuousState(x)
np.testing.assert_equal(
context.get_continuous_state_vector().CopyToVector(), x)
# RimlessWheel has a single discrete variable and a bool abstract
# variable.
rimless = RimlessWheel()
context = rimless.CreateDefaultContext()
x = np.array([1.125])
context.SetDiscreteState(xd=2 * x)
np.testing.assert_equal(
context.get_discrete_state_vector().CopyToVector(), 2 * x)
context.SetDiscreteState(group_index=0, xd=3 * x)
np.testing.assert_equal(
context.get_discrete_state_vector().CopyToVector(), 3 * x)
context.SetAbstractState(index=0, value=True)
value = context.get_abstract_state(0)
self.assertTrue(value.get_value())
context.SetAbstractState(index=0, value=False)
value = context.get_abstract_state(0)
self.assertFalse(value.get_value())