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quadrotor_plant_test.cc
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quadrotor_plant_test.cc
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#include "drake/examples/quadrotor/quadrotor_plant.h"
#include <gtest/gtest.h>
#include "drake/common/test_utilities/expect_no_throw.h"
#include "drake/systems/framework/test_utilities/scalar_conversion.h"
namespace drake {
namespace examples {
namespace quadrotor {
namespace {
using symbolic::Expression;
using symbolic::Variable;
GTEST_TEST(QuadrotorPlantTest, DirectFeedthrough) {
const QuadrotorPlant<double> plant;
EXPECT_FALSE(plant.HasAnyDirectFeedthrough());
}
GTEST_TEST(QuadrotorPlantTest, ToAutoDiff) {
const QuadrotorPlant<double> plant;
EXPECT_TRUE(is_autodiffxd_convertible(plant));
}
GTEST_TEST(QuadrotorPlantTest, ToSymbolic) {
const QuadrotorPlant<double> plant;
EXPECT_TRUE(is_symbolic_convertible(plant));
auto plant_sym = plant.ToSymbolic();
auto context_sym = plant_sym->CreateDefaultContext();
VectorX<Variable> x = symbolic::MakeVectorVariable(12, "x");
context_sym->get_mutable_continuous_state_vector().SetFromVector(
x.cast<Expression>());
VectorX<Expression> derivatives =
plant_sym->EvalTimeDerivatives(*context_sym).CopyToVector();
for (int i = 0; i < 6; ++i) {
EXPECT_EQ(derivatives[i], x[i+6]);
}
}
// Ensure that DoCalcTimeDerivatives succeeds even if the input port is
// disconnected.
GTEST_TEST(QuadrotorPlantTest, NoInput) {
const QuadrotorPlant<double> plant;
auto context = plant.CreateDefaultContext();
DRAKE_EXPECT_NO_THROW(plant.EvalTimeDerivatives(*context));
}
} // namespace
} // namespace quadrotor
} // namespace examples
} // namespace drake