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Implement binary operations between enums and numbers.

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PiperOrigin-RevId: 435352475
Change-Id: I95ffab7d35898b8e04e00e2f37933b7959b90097
This commit is contained in:
Saran Tunyasuvunakool
2022-03-17 08:29:01 -07:00
parent 4d1ed50388
commit 295602b3eb
2 changed files with 63 additions and 0 deletions
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python/mujoco/bindings_test.py
+37
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@@ -663,6 +663,43 @@ Euler integrator, semi-implicit in velocity.
with self.assertRaises(ValueError):
mujoco.mjtJoint(-1)
def test_enum_ops(self):
# Note: when modifying this test, make sure the enum value is an odd number
# so that the division tests are correctly exercised.
self.assertEqual(mujoco.mjtFrame.mjNFRAME, 7)
self.assertEqual(mujoco.mjtFrame.mjNFRAME, 7.0)
self.assertEqual(mujoco.mjtFrame.mjNFRAME, mujoco.mjtFrame.mjNFRAME)
self.assertNotEqual(mujoco.mjtFrame.mjNFRAME, mujoco.mjtFrame.mjFRAME_NONE)
self.assertEqual(mujoco.mjtFrame.mjNFRAME + 1, 8)
self.assertIsInstance(mujoco.mjtFrame.mjNFRAME + 1, int)
self.assertEqual(mujoco.mjtFrame.mjNFRAME + 1.75, 8.75)
self.assertEqual(mujoco.mjtFrame.mjNFRAME - 2, 5)
self.assertIsInstance(mujoco.mjtFrame.mjNFRAME - 2, int)
self.assertEqual(mujoco.mjtFrame.mjNFRAME - 2.25, 4.75)
self.assertEqual(mujoco.mjtFrame.mjNFRAME * 3, 21)
self.assertIsInstance(mujoco.mjtFrame.mjNFRAME * 3, int)
self.assertEqual(mujoco.mjtFrame.mjNFRAME * 3.5, 24.5)
self.assertEqual(mujoco.mjtFrame.mjNFRAME / 2, 3.5)
self.assertEqual(mujoco.mjtFrame.mjNFRAME // 2, 3)
self.assertIsInstance(mujoco.mjtFrame.mjNFRAME // 2, int)
self.assertEqual(mujoco.mjtFrame.mjNFRAME % 4, 3)
self.assertIsInstance(mujoco.mjtFrame.mjNFRAME % 4, int)
self.assertEqual(
mujoco.mjtDisableBit.mjDSBL_GRAVITY | mujoco.mjtDisableBit.mjDSBL_LIMIT,
72)
self.assertEqual(mujoco.mjtDisableBit.mjDSBL_PASSIVE | 33, 33)
self.assertEqual(mujoco.mjtDisableBit.mjDSBL_PASSIVE & 33, 32)
self.assertEqual(mujoco.mjtDisableBit.mjDSBL_CLAMPCTRL << 1,
mujoco.mjtDisableBit.mjDSBL_WARMSTART)
self.assertEqual(mujoco.mjtDisableBit.mjDSBL_CLAMPCTRL >> 3,
mujoco.mjtDisableBit.mjDSBL_CONTACT)
def test_can_raise_error(self):
self.data.pstack = self.data.nstack
with self.assertRaisesWithLiteralMatch(mujoco.FatalError, 'Stack overflow'):