34 lines
1.2 KiB
Python
34 lines
1.2 KiB
Python
import pytest
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import numpy as np
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from PythonLinearNonlinearControl.configs.first_order_lag \
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import FirstOrderLagConfigModule
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class TestCalcCost():
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def test_calc_costs(self):
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# make config
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config = FirstOrderLagConfigModule()
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# set
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pred_len = 5
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state_size = 4
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input_size = 2
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pop_size = 2
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pred_xs = np.ones((pop_size, pred_len, state_size))
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g_xs = np.ones((pop_size, pred_len, state_size)) * 0.5
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input_samples = np.ones((pop_size, pred_len, input_size)) * 0.5
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costs = config.input_cost_fn(input_samples)
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expected_costs = np.ones((pop_size, pred_len, input_size))*0.5
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assert costs == pytest.approx(expected_costs**2 * np.diag(config.R))
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costs = config.state_cost_fn(pred_xs, g_xs)
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expected_costs = np.ones((pop_size, pred_len, state_size))*0.5
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assert costs == pytest.approx(expected_costs**2 * np.diag(config.Q))
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costs = config.terminal_state_cost_fn(pred_xs[:, -1, :],\
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g_xs[:, -1, :])
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expected_costs = np.ones((pop_size, state_size))*0.5
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assert costs == pytest.approx(expected_costs**2 * np.diag(config.Sf)) |