Function test_stack_error

tests/python/test_costs.py:222–258

()

def test_stack_error():
    # Should raise RuntimeError due to wrong use.
    nx = 2
    nu = 2
    space = manifolds.VectorSpace(nx)
    cost_stack = CostStack(space, nu)
    Q = np.eye(nx)
    R = np.eye(nu)
    R[range(nu), range(nu)] = np.random.rand(nu) * 2.0
    rcost = QuadraticCost(Q, R)
    cost_stack.addCost(rcost)  # optional

    if eigenpy.__version__ >= "3.9.1":
        print(cost_stack.components.todict())

    rc2 = QuadraticCost(np.eye(3), np.eye(nu))
    rc3 = QuadraticCost(np.eye(nx), np.eye(nu * 2))

    if eigenpy.__version__ >= "3.9.1":
        cost_data = cost_stack.createData()
        print(cost_data.sub_cost_data.todict())

    with pytest.raises(Exception) as e_info:
        cost_stack.addCost(rc2)
    print(e_info)

    with pytest.raises(Exception) as e_info:
        cost_stack.addCost(rc3)
    print(e_info)

    with pytest.raises(Exception) as e_info:
        CostStack(space, nu, [rcost, rc2], [1.0, 1.0])
    print(e_info)

    with pytest.raises(Exception) as e_info:
        CostStack(space, nu, [rcost], [1.0, 1.0])
    print(e_info)


@pytest.mark.skipif(