def test_simulator_ctor(self):
# Create simple system.
system = ConstantVectorSource([1])
def check_output(context):
# Check number of output ports and value for a given context.
output = system.AllocateOutput(context)
self.assertEquals(output.get_num_ports(), 1)
system.CalcOutput(context, output)
value = output.get_vector_data(0).get_value()
self.assertTrue(np.allclose([1], value))
# Create simulator with basic constructor.
simulator = Simulator(system)
simulator.Initialize()
simulator.set_target_realtime_rate(0)
simulator.set_publish_every_time_step(True)
self.assertTrue(
simulator.get_context() is simulator.get_mutable_context())
check_output(simulator.get_context())
simulator.StepTo(1)
# Create simulator specifying context.
context = system.CreateDefaultContext()
# @note `simulator` now owns `context`.
simulator = Simulator(system, context)
self.assertTrue(simulator.get_context() is context)
check_output(context)
simulator.StepTo(1)
def test_integrator_constructors(self):
"""Test all constructors for all integrator types."""
sys = ConstantVectorSource([1])
con = sys.CreateDefaultContext()
RungeKutta2Integrator(system=sys, max_step_size=0.01)
RungeKutta2Integrator(system=sys, max_step_size=0.01, context=con)
RungeKutta3Integrator(system=sys)
RungeKutta3Integrator(system=sys, context=con)
def test_copy(self):
# Copy a context using `copy` or `clone`.
system = ConstantVectorSource([1])
context = system.CreateDefaultContext()
context_2 = copy.copy(context)
self.assertNotEquals(context, context_2)
context_3 = context.Clone()
self.assertNotEquals(context, context_3)
def test_copy(self):
# Copy a context using `deepcopy` or `clone`.
system = ConstantVectorSource([1])
context = system.CreateDefaultContext()
context_copies = [
copy.copy(context),
copy.deepcopy(context),
context.Clone(),
]
# TODO(eric.cousineau): Compare copies.
for context_copy in context_copies:
self.assertTrue(context_copy is not context)
def test_simulator_context_manipulation(self):
system = ConstantVectorSource([1])
# Use default-constructed context.
simulator = Simulator(system)
self.assertTrue(simulator.has_context())
context_default = simulator.get_mutable_context()
# WARNING: Once we call `simulator.reset_context()`, it will delete the
# context it currently owns, which is `context_default` in this case.
# BE CAREFUL IN SITUATIONS LIKE THIS!
# TODO(eric.cousineau): Bind `release_context()`, or migrate context
# usage to use `shared_ptr`.
context = system.CreateDefaultContext()
simulator.reset_context(context)
self.assertIs(context, simulator.get_mutable_context())
# WARNING: This will also invalidate `context`. Be careful!
simulator.reset_context(None)
self.assertFalse(simulator.has_context())
def test_vector_output_port_eval(self):
np_value = np.array([1., 2., 3.])
model_value = AbstractValue.Make(BasicVector(np_value))
source = ConstantVectorSource(np_value)
context = source.CreateDefaultContext()
output_port = source.get_output_port(0)
value = output_port.Eval(context)
self.assertEqual(type(value), np.ndarray)
np.testing.assert_equal(value, np_value)
value_abs = output_port.EvalAbstract(context)
self.assertEqual(type(value_abs), type(model_value))
self.assertEqual(type(value_abs.get_value().get_value()), np.ndarray)
np.testing.assert_equal(value_abs.get_value().get_value(), np_value)
basic = output_port.EvalBasicVector(context)
self.assertEqual(type(basic), BasicVector)
self.assertEqual(type(basic.get_value()), np.ndarray)
np.testing.assert_equal(basic.get_value(), np_value)
def test_constant_vector_source(self):
source = ConstantVectorSource(source_value=[1., 2.])
context = source.CreateDefaultContext()
source.get_source_value(context)
source.get_mutable_source_value(context)
