8000 additional unit tests for code coverage · python-control/python-control@1fe6e86 · GitHub
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additional unit tests for code coverage
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-2
lines changed

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‎control/flatsys/flatsys.py

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -479,8 +479,8 @@ def traj_const(null_coeffs):
479479
elif type == sp.optimize.NonlinearConstraint:
480480
values.append(fun(states, inputs))
481481
else:
482-
raise TypeError("unknown constraint type %s" %
483-
constraint[0])
482+
raise TypeError(
483+
"unknown constraint type %s" % type)
484484
return np.array(values).flatten()
485485

486486
# Store upper and lower bounds

‎control/tests/flatsys_test.py

Lines changed: 64 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -191,6 +191,17 @@ def test_flat_cost_constr(self):
191191
assert np.all(x_const[i] >= lb[i] * 1.02)
192192
assert np.all(x_const[i] <= ub[i] * 1.02)
193193

194+
# Solve the same problem with a nonlinear constraint type
195+
nl_constraints = [
196+
(sp.optimize.NonlinearConstraint, lambda x, u: x, lb, ub)]
197+
traj_nlconst = fs.point_to_point(
198+
flat_sys, timepts, x0, u0, xf, uf, cost=cost_fcn,
199+
constraints=nl_constraints, basis=fs.PolyFamily(8),
200+
)
201+
x_nlconst, u_nlconst = traj_nlconst.eval(T)
202+
np.testing.assert_almost_equal(x_const, x_nlconst)
203+
np.testing.assert_almost_equal(u_const, u_nlconst)
204+
194205
def test_bezier_basis(self):
195206
bezier = fs.BezierFamily(4)
196207
time = np.linspace(0, 1, 100)
@@ -245,6 +256,26 @@ def test_point_to_point_errors(self):
245256
cost_fcn = opt.quadratic_cost(
246257
flat_sys, np.diag([1, 1]), 1, x0=xf, u0=uf)
247258

259+
# Solving without basis specified should be OK
260+
traj = fs.point_to_point(flat_sys, timepts, x0, u0, xf, uf)
261+
x, u = traj.eval(timepts)
262+
np.testing.assert_array_almost_equal(x0, x[:, 0])
263+
np.testing.assert_array_almost_equal(u0, u[:, 0])
264+
np.testing.assert_array_almost_equal(xf, x[:, -1])
265+
np.testing.assert_array_almost_equal(uf, u[:, -1])
266+
267+
# Adding a cost function generates a warning
268+
with pytest.warns(UserWarning, match="optimization not possible"):
269+
traj = fs.point_to_point(
270+
flat_sys, timepts, x0, u0, xf, uf, cost=cost_fcn)
271+
272+
# Make sure we still solved the problem
273+
x, u = traj.eval(timepts)
274+
np.testing.assert_array_almost_equal(x0, x[:, 0])
275+
np.testing.assert_array_almost_equal(u0, u[:, 0])
276+
np.testing.assert_array_almost_equal(xf, x[:, -1])
277+
np.testing.assert_array_almost_equal(uf, u[:, -1])
278+
248279
# Try to optimize with insufficient degrees of freedom
249280
with pytest.warns(UserWarning, match="optimization not possible"):
250281
traj = fs.point_to_point(
@@ -267,3 +298,36 @@ def test_point_to_point_errors(self):
267298
traj = fs.point_to_point(flat_sys, timepts, x0, u0, np.zeros(3), uf)
268299
with pytest.raises(ValueError, match="Final input: Wrong shape"):
269300
traj = fs.point_to_point(flat_sys, timepts, x0, u0, xf, np.zeros(3))
301+
302+
# Different ways of describing constraints
303+
constraint = opt.input_range_constraint(flat_sys, -100, 100)
304+
305+
with pytest.warns(UserWarning, match="optimization not possible"):
306+
traj = fs.point_to_point(
307+
flat_sys, timepts, x0, u0, xf, uf, constraints=constraint,
308+
basis=fs.PolyFamily(6))
309+
310+
x, u = traj.eval(timepts)
311+
np.testing.assert_array_almost_equal(x0, x[:, 0])
312+
np.testing.assert_array_almost_equal(u0, u[:, 0])
313+
np.testing.assert_array_almost_equal(xf, x[:, -1])
314+
np.testing.assert_array_almost_equal(uf, u[:, -1])
315+
316+
# Constraint that isn't a constraint
317+
with pytest.raises(TypeError, match="must be a list"):
318+
traj = fs.point_to_point(
319+
flat_sys, timepts, x0, u0, xf, uf, constraints=np.eye(2),
320+
basis=fs.PolyFamily(8))
321+
322+
# Unknown constraint type
323+
with pytest.raises(TypeError, match="unknown constraint type"):
324+
traj = fs.point_to_point(
325+
flat_sys, timepts, x0, u0, xf, uf,
326+
constraints=[(None, 0, 0, 0)], basis=fs.PolyFamily(8))
327+
328+
# Unsolvable optimization
329+
constraint = [opt.input_range_constraint(flat_sys, -0.01, 0.01)]
330+
with pytest.raises(RuntimeError, match="Unable to solve optimal"):
331+
traj = fs.point_to_point(
332+
flat_sys, timepts, x0, u0, xf, uf, constraints=constraint,
333+
basis=fs.PolyFamily(8))

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