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