Move introspect to python/introspect

PiperOrigin-RevId: 728695024 Change-Id: I96433e1e9ee509704d66bd4c1be1906732e4cc55
2025-02-19 09:00:26 -08:00
parent 6a86247810
commit b0e9d08673
19 changed files with 22 additions and 5 deletions
@@ -0,0 +1,68 @@
+# Copyright 2022 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ==============================================================================
+"""Tests for functions.py."""
+
+from absl.testing import absltest
+
+from . import ast_nodes
+from . import functions
+from . import type_parsing
+
+
+class FunctionsTest(absltest.TestCase):
+
+  def test_mj_copyData(self):  # pylint: disable=invalid-name
+    func_decl = functions.FUNCTIONS['mj_copyData']
+    self.assertEqual(func_decl.name, 'mj_copyData')
+    self.assertEqual(func_decl.return_type, type_parsing.parse_type('mjData*'))
+    self.assertEqual(
+        func_decl.parameters,
+        (ast_nodes.FunctionParameterDecl(
+            name='dest', type=type_parsing.parse_type('mjData*')),
+         ast_nodes.FunctionParameterDecl(
+             name='m', type=type_parsing.parse_type('const mjModel*')),
+         ast_nodes.FunctionParameterDecl(
+             name='src', type=type_parsing.parse_type('const mjData*'))))
+    self.assertEqual(
+        func_decl.doc, 'Copy mjData. '
+        'm is only required to contain the size fields from MJMODEL_INTS.')
+
+  def test_mju_transformSpatial(self):  # pylint: disable=invalid-name
+    func_decl = functions.FUNCTIONS['mju_transformSpatial']
+    self.assertEqual(func_decl.name, 'mju_transformSpatial')
+    self.assertEqual(func_decl.return_type, type_parsing.parse_type('void'))
+    self.assertEqual(
+        func_decl.parameters,
+        (ast_nodes.FunctionParameterDecl(
+            name='res', type=type_parsing.parse_type('mjtNum[6]')),
+         ast_nodes.FunctionParameterDecl(
+             name='vec', type=type_parsing.parse_type('const mjtNum[6]')),
+         ast_nodes.FunctionParameterDecl(
+             name='flg_force', type=type_parsing.parse_type('int')),
+         ast_nodes.FunctionParameterDecl(
+             name='newpos', type=type_parsing.parse_type('const mjtNum[3]')),
+         ast_nodes.FunctionParameterDecl(
+             name='oldpos', type=type_parsing.parse_type('const mjtNum[3]')),
+         ast_nodes.FunctionParameterDecl(
+             name='rotnew2old',
+             type=type_parsing.parse_type('const mjtNum[9]'))))
+    self.assertEqual(
+        func_decl.doc, 'Coordinate transform of 6D motion or force vector in ' +
+        'rotation:translation format. rotnew2old is 3-by-3, ' +
+        'NULL means no rotation; flg_force specifies force or motion type.')
+
+
+if __name__ == '__main__':
+  absltest.main()