-
Notifications
You must be signed in to change notification settings - Fork 1.2k
/
parameters_test.cc
136 lines (115 loc) · 5 KB
/
parameters_test.cc
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
#include "drake/systems/framework/parameters.h"
#include <gtest/gtest.h>
#include "drake/systems/framework/test_utilities/pack_value.h"
namespace drake {
namespace systems {
namespace {
class ParametersTest : public ::testing::Test {
protected:
void SetUp() override {
params_ = MakeParams<double>();
BasicVector<double>& p0 = params_->get_mutable_numeric_parameter(0);
p0[0] = 3.0;
p0[1] = 6.0;
BasicVector<double>& p1 = params_->get_mutable_numeric_parameter(1);
p1[0] = 9.0;
p1[1] = 12.0;
}
template <typename T>
static std::unique_ptr<Parameters<T>> MakeParams() {
std::vector<std::unique_ptr<BasicVector<T>>> numeric;
// Two numeric parameters, each vectors of length 2.
numeric.push_back(std::make_unique<BasicVector<T>>(2));
numeric.push_back(std::make_unique<BasicVector<T>>(2));
// Two abstract parameters, each integers.
std::vector<std::unique_ptr<AbstractValue>> abstract;
abstract.push_back(PackValue<int>(72));
abstract.push_back(PackValue<int>(144));
return std::make_unique<Parameters<T>>(std::move(numeric),
std::move(abstract));
}
std::unique_ptr<Parameters<double>> params_;
};
TEST_F(ParametersTest, Numeric) {
ASSERT_EQ(2, params_->num_numeric_parameter_groups());
ASSERT_EQ(2, params_->get_numeric_parameters().num_groups());
EXPECT_EQ(3.0, params_->get_numeric_parameter(0)[0]);
EXPECT_EQ(6.0, params_->get_numeric_parameter(0)[1]);
EXPECT_EQ(9.0, params_->get_numeric_parameter(1)[0]);
EXPECT_EQ(12.0, params_->get_numeric_parameter(1)[1]);
params_->get_mutable_numeric_parameter(0)[1] = 42.0;
EXPECT_EQ(42.0, params_->get_numeric_parameter(0)[1]);
}
TEST_F(ParametersTest, Abstract) {
ASSERT_EQ(2, params_->num_abstract_parameters());
ASSERT_EQ(2, params_->get_abstract_parameters().size());
EXPECT_EQ(72, UnpackIntValue(params_->get_abstract_parameter(0)));
EXPECT_EQ(144, params_->template get_abstract_parameter<int>(1));
params_->template get_mutable_abstract_parameter<int>(1) = 512;
EXPECT_EQ(512, UnpackIntValue(params_->get_abstract_parameter(1)));
}
TEST_F(ParametersTest, Clone) {
// Test that data is copied into the clone.
auto clone = params_->Clone();
EXPECT_EQ(3.0, clone->get_numeric_parameter(0)[0]);
EXPECT_EQ(72, UnpackIntValue(clone->get_abstract_parameter(0)));
EXPECT_EQ(144, UnpackIntValue(clone->get_abstract_parameter(1)));
// Test that changes to the clone don't write through to the original.
// - numeric
clone->get_mutable_numeric_parameter(0)[1] = 42.0;
EXPECT_EQ(6.0, params_->get_numeric_parameter(0)[1]);
// - abstract
clone->get_mutable_abstract_parameter(0).set_value<int>(256);
EXPECT_EQ(72, UnpackIntValue(params_->get_abstract_parameter(0)));
}
// Tests we can promote Parameters<double> to Parameters<symbolic::Expression>.
TEST_F(ParametersTest, SetSymbolicFromDouble) {
auto symbolic_params = MakeParams<symbolic::Expression>();
symbolic_params->SetFrom(*params_);
// The numeric parameters have been converted to symbolic constants.
const auto& p0 = symbolic_params->get_numeric_parameter(0);
EXPECT_EQ("3", p0[0].to_string());
EXPECT_EQ("6", p0[1].to_string());
const auto& p1 = symbolic_params->get_numeric_parameter(1);
EXPECT_EQ("9", p1[0].to_string());
EXPECT_EQ("12", p1[1].to_string());
// The abstract parameters have simply been cloned.
EXPECT_EQ(72, UnpackIntValue(symbolic_params->get_abstract_parameter(0)));
EXPECT_EQ(144, UnpackIntValue(symbolic_params->get_abstract_parameter(1)));
}
// Tests we can demote Parameters<symbolic::Expression> to Parameters<double>.
TEST_F(ParametersTest, SetDoubleFromSymbolic) {
auto symbolic_params = MakeParams<symbolic::Expression>();
auto& p0 = symbolic_params->get_mutable_numeric_parameter(0);
auto& p1 = symbolic_params->get_mutable_numeric_parameter(1);
p0[0] = 4.0;
p0[1] = 7.0;
p1[0] = 10.0;
p1[1] = 13.0;
params_->SetFrom(*symbolic_params);
const auto& actual_p0 = params_->get_numeric_parameter(0);
const auto& actual_p1 = params_->get_numeric_parameter(1);
EXPECT_EQ(4.0, actual_p0[0]);
EXPECT_EQ(7.0, actual_p0[1]);
EXPECT_EQ(10.0, actual_p1[0]);
EXPECT_EQ(13.0, actual_p1[1]);
}
// Constructs an AutoDiffXd parameters with the same dimensions as
// params_, and tests we can upconvert the latter into the former.
TEST_F(ParametersTest, SetAutodiffFromDouble) {
auto autodiff_params = MakeParams<AutoDiffXd>();
autodiff_params->SetFrom(*params_);
// The numeric parameters have been converted to autodiff.
const auto& p0 = autodiff_params->get_numeric_parameter(0);
EXPECT_EQ(3.0, p0[0].value());
EXPECT_EQ(6.0, p0[1].value());
const auto& p1 = autodiff_params->get_numeric_parameter(1);
EXPECT_EQ(9.0, p1[0].value());
EXPECT_EQ(12.0, p1[1].value());
// The abstract parameters have simply been cloned.
EXPECT_EQ(72, UnpackIntValue(autodiff_params->get_abstract_parameter(0)));
EXPECT_EQ(144, UnpackIntValue(autodiff_params->get_abstract_parameter(1)));
}
} // namespace
} // namespace systems
} // namespace drake