test_interpolate_constraints.py 文件源码

python
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项目:toppra 作者: hungpham2511 项目源码 文件源码
def test_equality_mat(self, intp_fixture):
        """ Equality constraint: abar, bbar, cbar, D
        """
        pc, pc_intp = intp_fixture
        # number
        for i in range(pc_intp.N):
            ds = pc_intp.ss[i+1] - pc_intp.ss[i]
            ai_new = np.hstack((
                pc.abar[i],
                pc.abar[i+1] + 2 * ds * pc.bbar[i+1]))
            bi_new = np.hstack((pc.bbar[i], pc.bbar[i+1]))
            ci_new = np.hstack((pc.cbar[i], pc.cbar[i+1]))
            Di_new = block_diag(pc.D[i], pc.D[i+1])

            li_new = np.hstack((pc.l[i], pc.l[i+1]))
            hi_new = np.hstack((pc.h[i], pc.h[i+1]))

            assert np.allclose(ai_new, pc_intp.abar[i])
            assert np.allclose(bi_new, pc_intp.bbar[i])
            assert np.allclose(ci_new, pc_intp.cbar[i])
            assert np.allclose(Di_new, pc_intp.D[i], atol=1e-8)

            assert np.allclose(li_new, pc_intp.l[i])
            assert np.allclose(hi_new, pc_intp.h[i])
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