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Python Simulator.get_mutable_integrator方法代码示例

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()))
开发者ID:naveenoid,项目名称:drake,代码行数:53,代码来源:general_test.py


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