本文整理汇总了Python中pydrake.systems.analysis.Simulator.get_mutable_integrator方法的典型用法代码示例。如果您正苦于以下问题：Python Simulator.get_mutable_integrator方法的具体用法？Python Simulator.get_mutable_integrator怎么用？Python Simulator.get_mutable_integrator使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类pydrake.systems.analysis.Simulator的用法示例。
在下文中一共展示了Simulator.get_mutable_integrator方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: test_simulator_integrator_manipulation
# 需要导入模块: from pydrake.systems.analysis import Simulator [as 别名]
# 或者: from pydrake.systems.analysis.Simulator import get_mutable_integrator [as 别名]
def test_simulator_integrator_manipulation(self):
system = ConstantVectorSource([1])
# Create simulator with basic constructor.
simulator = Simulator(system)
simulator.Initialize()
simulator.set_target_realtime_rate(0)
integrator = simulator.get_mutable_integrator()
target_accuracy = 1E-6
integrator.set_target_accuracy(target_accuracy)
self.assertEqual(integrator.get_target_accuracy(), target_accuracy)
maximum_step_size = 0.2
integrator.set_maximum_step_size(maximum_step_size)
self.assertEqual(integrator.get_maximum_step_size(), maximum_step_size)
minimum_step_size = 2E-2
integrator.set_requested_minimum_step_size(minimum_step_size)
self.assertEqual(integrator.get_requested_minimum_step_size(),
minimum_step_size)
integrator.set_throw_on_minimum_step_size_violation(True)
self.assertTrue(integrator.get_throw_on_minimum_step_size_violation())
integrator.set_fixed_step_mode(True)
self.assertTrue(integrator.get_fixed_step_mode())
const_integrator = simulator.get_integrator()
self.assertTrue(const_integrator is integrator)
# Test context-less constructors for
# integrator types.
test_integrator = RungeKutta2Integrator(
system=system, max_step_size=0.01)
test_integrator = RungeKutta3Integrator(system=system)
# Test simulator's reset_integrator,
# and also the full constructors for
# all integrator types.
simulator.reset_integrator(
RungeKutta2Integrator(
system=system,
max_step_size=0.01,
context=simulator.get_mutable_context()))
simulator.reset_integrator(
RungeKutta3Integrator(
system=system,
context=simulator.get_mutable_context()))