def test_geometry_with_params(self): builder = DiagramBuilder() plant = builder.AddSystem(AcrobotPlant()) scene_graph = builder.AddSystem(SceneGraph()) geom = AcrobotGeometry.AddToBuilder( builder=builder, acrobot_state_port=plant.get_output_port(0), acrobot_params=AcrobotParams(), scene_graph=scene_graph) builder.Build() self.assertIsInstance(geom, AcrobotGeometry)
def test_params(self): params = AcrobotParams() params.set_m1(1.) params.set_m2(2.) params.set_l1(3.) params.set_Ic1(4.) params.set_Ic2(5.) params.set_b1(6.) params.set_b2(7.) params.set_gravity(8.) self.assertEqual(params.m1(), 1.) self.assertEqual(params.m2(), 2.) self.assertEqual(params.l1(), 3.) self.assertEqual(params.Ic1(), 4.) self.assertEqual(params.Ic2(), 5.) self.assertEqual(params.b1(), 6.) self.assertEqual(params.b2(), 7.) self.assertEqual(params.gravity(), 8.)