()
| 55 | not HAS_PINOCCHIO, reason="Aligator was compiled without Pinocchio." |
| 56 | ) |
| 57 | def test_slicing(): |
| 58 | space = manifolds.R4() |
| 59 | nr = 7 |
| 60 | nx = space.nx |
| 61 | A = np.random.randn(nr, nx) |
| 62 | nu = 2 |
| 63 | B = np.random.randn(nr, nu) |
| 64 | c = np.zeros(nr) |
| 65 | fn = aligator.LinearFunction(A, B, c) |
| 66 | x0 = space.rand() |
| 67 | u0 = np.zeros(fn.nu) |
| 68 | |
| 69 | dfull = fn.createData() |
| 70 | |
| 71 | idxs = [0, 2] |
| 72 | fslice = fn[idxs] |
| 73 | dslice = fslice.createData() |
| 74 | assert idxs == fslice.indices.tolist() |
| 75 | |
| 76 | fn.evaluate(x0, u0, dfull) |
| 77 | fslice.evaluate(x0, u0, dslice) |
| 78 | |
| 79 | assert np.allclose(dfull.value[idxs], dslice.value) |
| 80 | |
| 81 | fn.computeJacobians(x0, u0, dfull) |
| 82 | fslice.computeJacobians(x0, u0, dslice) |
| 83 | |
| 84 | assert np.allclose(dfull.jac_buffer[idxs, :], dslice.jac_buffer) |
| 85 | |
| 86 | fs2 = fn[1::2] |
| 87 | print("slice size:", fs2.nr) |
| 88 | idx2 = [1, 3, 5] |
| 89 | assert fs2.indices.tolist() == idx2 |
| 90 | |
| 91 | fs3 = fn[1] |
| 92 | assert fs3.indices.tolist() == [1] |
| 93 | |
| 94 | |
| 95 | if __name__ == "__main__": |
nothing calls this directly
no test coverage detected