test_tools.py 文件源码

def test_lie_derivative(self):
        Lfh = pm.lie_derivatives(self.h, self.f, self.x, 0)
        self.assertEqual(Lfh, [self.h])

        Lfh = pm.lie_derivatives(self.h, self.f, self.x, 1)
        self.assertEqual(Lfh, [self.h,
                               sp.Matrix([-2*self._x1*self._x2**2
                                          - sp.sin(self._x1)*sp.cos(self._x2)])
                               ])
        Lfh = pm.lie_derivatives(self.h, self.f, self.x, 2)
        self.assertEqual(Lfh, [self.h,
                               sp.Matrix([-2*self._x1*self._x2**2
                                          - sp.sin(self._x1)*sp.cos(self._x2)]),
                               sp.Matrix([
                                   -self._x2**2*(
                                       -2*self._x2**2
                                       - sp.cos(self._x1)*sp.cos(self._x2)
                                   )
                                   + sp.sin(self._x1)*(
                                       - 4*self._x1*self._x2
                                       + sp.sin(self._x1)*sp.sin(self._x2)
                                   )])
                               ])