def test_basic_vector_double(self):
# Test constructing vectors of sizes [0, 1, 2], and ensure that we can
# construct from both lists and `np.array` objects with no ambiguity.
for n in [0, 1, 2]:
for wrap in [pass_through, np.array]:
# Ensure that we can get vectors templated on double by
# reference.
expected_init = wrap(map(float, range(n)))
expected_add = wrap([x + 1 for x in expected_init])
expected_set = wrap([x + 10 for x in expected_init])
value_data = BasicVector(expected_init)
value = value_data.get_mutable_value()
self.assertTrue(np.allclose(value, expected_init))
# Add value directly.
# TODO(eric.cousineau): Determine if there is a way to extract
# the pointer referred to by the buffer (e.g. `value.data`).
value[:] += 1
self.assertTrue(np.allclose(value, expected_add))
self.assertTrue(
np.allclose(value_data.get_value(), expected_add))
self.assertTrue(
np.allclose(value_data.get_mutable_value(), expected_add))
# Set value from `BasicVector`.
value_data.SetFromVector(expected_set)
self.assertTrue(np.allclose(value, expected_set))
self.assertTrue(
np.allclose(value_data.get_value(), expected_set))
self.assertTrue(
np.allclose(value_data.get_mutable_value(), expected_set))
# Ensure we can construct from size.
value_data = BasicVector(n)
self.assertEquals(value_data.size(), n)
# Ensure we can clone.
value_copies = [
value_data.Clone(),
copy.copy(value_data),
copy.deepcopy(value_data),
]
for value_copy in value_copies:
self.assertTrue(value_copy is not value_data)
self.assertEquals(value_data.size(), n)
def test_basic_vector_double(self):
# Test constructing vectors of sizes [0, 1, 2], and ensure that we can
# construct from both lists and `np.array` objects with no ambiguity.
for n in [0, 1, 2]:
for wrap in [pass_through, np.array]:
# Ensure that we can get vectors templated on double by
# reference.
expected_init = wrap([float(x) for x in range(n)])
expected_add = wrap([x + 1 for x in expected_init])
expected_set = wrap([x + 10 for x in expected_init])
value_data = BasicVector(expected_init)
value = value_data.get_mutable_value()
self.assertTrue(np.allclose(value, expected_init))
# Add value directly.
# TODO(eric.cousineau): Determine if there is a way to extract
# the pointer referred to by the buffer (e.g. `value.data`).
value[:] += 1
self.assertTrue(np.allclose(value, expected_add))
self.assertTrue(
np.allclose(value_data.get_value(), expected_add))
self.assertTrue(
np.allclose(value_data.get_mutable_value(), expected_add))
# Set value from `BasicVector`.
value_data.SetFromVector(expected_set)
self.assertTrue(np.allclose(value, expected_set))
self.assertTrue(
np.allclose(value_data.get_value(), expected_set))
self.assertTrue(
np.allclose(value_data.get_mutable_value(), expected_set))
# Ensure we can construct from size.
value_data = BasicVector(n)
self.assertEqual(value_data.size(), n)
# Ensure we can clone.
value_copies = [
value_data.Clone(),
copy.copy(value_data),
copy.deepcopy(value_data),
]
for value_copy in value_copies:
self.assertTrue(value_copy is not value_data)
self.assertEqual(value_data.size(), n)
def test_vector_pass_through(self):
model_value = BasicVector([1., 2, 3])
system = PassThrough(model_value.size())
context = system.CreateDefaultContext()
context.FixInputPort(0, model_value)
output = system.AllocateOutput()
input_eval = system.EvalVectorInput(context, 0)
compare_value(self, input_eval, model_value)
system.CalcOutput(context, output)
output_value = output.get_vector_data(0)
compare_value(self, output_value, model_value)
def test_vector_pass_through(self):
model_value = BasicVector([1., 2, 3])
system = PassThrough(model_value.size())
context = system.CreateDefaultContext()
context.FixInputPort(0, model_value)
output = system.AllocateOutput()
input_eval = system.EvalVectorInput(context, 0)
compare_value(self, input_eval, model_value)
system.CalcOutput(context, output)
output_value = output.get_vector_data(0)
compare_value(self, output_value, model_value)
