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37 lines
1.1 KiB
37 lines
1.1 KiB
2 years ago
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import unittest
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import numpy as np
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from pydrake.examples import VanDerPolOscillator
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from pydrake.systems.analysis import Simulator
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class TestVanDerPol(unittest.TestCase):
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def test_simulation(self):
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van_der_pol = VanDerPolOscillator()
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# Create the simulator.
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simulator = Simulator(van_der_pol)
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context = simulator.get_mutable_context()
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# Set the initial state.
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state = context.get_mutable_continuous_state_vector()
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state.SetFromVector([0., 2.])
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# Simulate (and make sure the state actually changes).
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initial_state = state.CopyToVector()
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simulator.AdvanceTo(1.0)
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self.assertFalse((state.CopyToVector() == initial_state).any())
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def test_ports(self):
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vdp = VanDerPolOscillator()
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self.assertTrue(vdp.get_position_output_port().get_index().is_valid())
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self.assertTrue(
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vdp.get_full_state_output_port().get_index().is_valid())
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def test_limit_cycle(self):
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cycle = VanDerPolOscillator.CalcLimitCycle()
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np.testing.assert_almost_equal(cycle[:, 0], cycle[:, -1], 2)
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