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Implement reversed arithmetic operators for enums and fix division behavior.

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PiperOrigin-RevId: 435408435
Change-Id: Ifeeff679cff658d5aae96a9ba5fee19d499656a3
This commit is contained in:
Saran Tunyasuvunakool
2022-03-17 11:57:18 -07:00
parent 295602b3eb
commit df202d23b1
2 changed files with 139 additions and 6 deletions
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python/mujoco/bindings_test.py
+67
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@@ -663,38 +663,105 @@ Euler integrator, semi-implicit in velocity.
with self.assertRaises(ValueError):
mujoco.mjtJoint(-1)
def test_enum_as_index(self):
x = ['a', 'b', 'c', 'd', 'e', 'f', 'g', 'h', 'i', 'j', 'k']
self.assertEqual(x[mujoco.mjtFrame.mjNFRAME], 'h')
self.assertEqual(
x[mujoco.mjtFrame.mjFRAME_GEOM:mujoco.mjtFrame.mjFRAME_CAMERA],
['c', 'd'])
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(7, mujoco.mjtFrame.mjNFRAME)
self.assertEqual(7.0, mujoco.mjtFrame.mjNFRAME)
self.assertEqual(mujoco.mjtFrame.mjNFRAME, mujoco.mjtFrame.mjNFRAME)
self.assertNotEqual(mujoco.mjtFrame.mjNFRAME, mujoco.mjtFrame.mjFRAME_NONE)
self.assertEqual(-mujoco.mjtFrame.mjNFRAME, -7)
self.assertIsInstance(-mujoco.mjtFrame.mjNFRAME, int)
self.assertEqual(mujoco.mjtFrame.mjNFRAME + 1, 8)
self.assertIsInstance(mujoco.mjtFrame.mjNFRAME + 1, int)
self.assertEqual(2 + mujoco.mjtFrame.mjNFRAME, 9)
self.assertIsInstance(2 + mujoco.mjtFrame.mjNFRAME, int)
self.assertEqual(mujoco.mjtFrame.mjNFRAME + 1.75, 8.75)
self.assertEqual(2.75 + mujoco.mjtFrame.mjNFRAME, 9.75)
self.assertEqual(mujoco.mjtFrame.mjNFRAME - 2, 5)
self.assertIsInstance(mujoco.mjtFrame.mjNFRAME - 2, int)
self.assertEqual(8 - mujoco.mjtFrame.mjNFRAME, 1)
self.assertIsInstance(8 - mujoco.mjtFrame.mjNFRAME, int)
self.assertEqual(mujoco.mjtFrame.mjNFRAME - 2.25, 4.75)
self.assertEqual(8.25 - mujoco.mjtFrame.mjNFRAME, 1.25)
self.assertEqual(mujoco.mjtFrame.mjNFRAME * 3, 21)
self.assertIsInstance(mujoco.mjtFrame.mjNFRAME * 3, int)
self.assertEqual(3 * mujoco.mjtFrame.mjNFRAME, 21)
self.assertIsInstance(3 * mujoco.mjtFrame.mjNFRAME, int)
self.assertEqual(mujoco.mjtFrame.mjNFRAME * 3.5, 24.5)
self.assertEqual(3.5 * mujoco.mjtFrame.mjNFRAME, 24.5)
self.assertEqual(mujoco.mjtFrame.mjNFRAME / 2, 3.5)
self.assertEqual(17.5 / mujoco.mjtFrame.mjNFRAME, 2.5)
self.assertEqual(mujoco.mjtFrame.mjNFRAME // 2, 3)
self.assertIsInstance(mujoco.mjtFrame.mjNFRAME // 2, int)
self.assertEqual(-mujoco.mjtFrame.mjNFRAME // 2, -4)
self.assertIsInstance(-mujoco.mjtFrame.mjNFRAME // 2, int)
self.assertEqual(20 // mujoco.mjtFrame.mjNFRAME, 2)
self.assertIsInstance(20 // mujoco.mjtFrame.mjNFRAME, int)
self.assertEqual(-20 // mujoco.mjtFrame.mjNFRAME, -3)
self.assertIsInstance(-20 // mujoco.mjtFrame.mjNFRAME, int)
self.assertEqual(mujoco.mjtFrame.mjNFRAME // 2.0, 3)
self.assertIsInstance(mujoco.mjtFrame.mjNFRAME // 2.0, float)
self.assertEqual(-mujoco.mjtFrame.mjNFRAME // 2.0, -4)
self.assertIsInstance(-mujoco.mjtFrame.mjNFRAME // 2.0, float)
self.assertEqual(20.0 // mujoco.mjtFrame.mjNFRAME, 2)
self.assertIsInstance(20.0 // mujoco.mjtFrame.mjNFRAME, float)
self.assertEqual(-20 // mujoco.mjtFrame.mjNFRAME, -3)
self.assertIsInstance(-20.0 // mujoco.mjtFrame.mjNFRAME, float)
self.assertEqual(mujoco.mjtFrame.mjNFRAME % 4, 3)
self.assertIsInstance(mujoco.mjtFrame.mjNFRAME % 4, int)
self.assertEqual(-mujoco.mjtFrame.mjNFRAME % -4, -3)
self.assertIsInstance(-mujoco.mjtFrame.mjNFRAME % -4, int)
self.assertEqual(-mujoco.mjtFrame.mjNFRAME % 4, 1)
self.assertIsInstance(-mujoco.mjtFrame.mjNFRAME % 4, int)
self.assertEqual(mujoco.mjtFrame.mjNFRAME % -4, -1)
self.assertIsInstance(mujoco.mjtFrame.mjNFRAME % -4, int)
self.assertEqual(9 % mujoco.mjtFrame.mjNFRAME, 2)
self.assertIsInstance(9 % mujoco.mjtFrame.mjNFRAME, int)
self.assertEqual(-9 % -mujoco.mjtFrame.mjNFRAME, -2)
self.assertIsInstance(-9 % -mujoco.mjtFrame.mjNFRAME, int)
self.assertEqual(-9 % mujoco.mjtFrame.mjNFRAME, 5)
self.assertIsInstance(-9 % mujoco.mjtFrame.mjNFRAME, int)
self.assertEqual(9 % -mujoco.mjtFrame.mjNFRAME, -5)
self.assertIsInstance(9 % -mujoco.mjtFrame.mjNFRAME, int)
with self.assertRaises(ZeroDivisionError):
_ = mujoco.mjtFrame.mjNFRAME / 0
with self.assertRaises(ZeroDivisionError):
_ = 1 / mujoco.mjtFrame.mjFRAME_NONE
with self.assertRaises(ZeroDivisionError):
_ = mujoco.mjtFrame.mjNFRAME // 0
with self.assertRaises(ZeroDivisionError):
_ = 1 // mujoco.mjtFrame.mjFRAME_NONE
with self.assertRaises(ZeroDivisionError):
_ = mujoco.mjtFrame.mjNFRAME % 0
with self.assertRaises(ZeroDivisionError):
_ = 1 % mujoco.mjtFrame.mjFRAME_NONE
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_PASSIVE ^ 33, 1)
self.assertEqual(33 | mujoco.mjtDisableBit.mjDSBL_PASSIVE, 33)
self.assertEqual(33 & mujoco.mjtDisableBit.mjDSBL_PASSIVE, 32)
self.assertEqual(33 ^ mujoco.mjtDisableBit.mjDSBL_PASSIVE, 1)
self.assertEqual(mujoco.mjtDisableBit.mjDSBL_CLAMPCTRL << 1,
mujoco.mjtDisableBit.mjDSBL_WARMSTART)
self.assertEqual(mujoco.mjtDisableBit.mjDSBL_CLAMPCTRL >> 3,