(setup_fig)
| 93 | |
| 94 | |
| 95 | def test_rk2(setup_fig): |
| 96 | discrete_dyn = IntegratorRK2(ode_dynamics, dt) |
| 97 | u0 = np.zeros(discrete_dyn.nu) |
| 98 | us = [u0] * nsteps |
| 99 | xs = aligator.rollout(discrete_dyn, x0, us).tolist() |
| 100 | if DISPLAY: |
| 101 | display(xs, dt) |
| 102 | e = computeMechanicalEnergy(rmodel, rdata, xs) |
| 103 | plt.plot(times_, e, label="RK2") |
| 104 | |
| 105 | |
| 106 | def test_midpoint(setup_fig): |
nothing calls this directly
no test coverage detected