Merge pull request #7 from pFernbach/topic/test_array

Use numpy array instead of matrix in python test

python/test/binding_tests.py

 import curves  # noqa - necessary to register curves::bezier_curve
 import numpy as np
+from numpy import array
 from hpp_centroidal_dynamics import Equilibrium, EquilibriumAlgorithm, SolverLP
-from numpy import array, asmatrix, matrix
-
 from hpp_bezier_com_traj import (SOLVER_QUADPROG, ConstraintFlag, Constraints, ContactData, ProblemData,
                                  computeCOMTraj, zeroStepCapturability)
 
@@ -24,18 +23,18 @@ assert (previous != eq.useWarmStart())
 assert (eq.getName() == "test")
 
 z = array([0., 0., 1.])
-P = asmatrix(array([array([x, y, 0]) for x in [-0.05, 0.05] for y in [-0.1, 0.1]]))
-N = asmatrix(array([z for _ in range(4)]))
+P = array([array([x, y, 0]) for x in [-0.05, 0.05] for y in [-0.1, 0.1]])
+N = array([z for _ in range(4)])
 
 # setting contact positions and normals, as well as friction coefficients
-eq.setNewContacts(asmatrix(P), asmatrix(N), 0.3, EquilibriumAlgorithm.EQUILIBRIUM_ALGORITHM_PP)
-# eq.setNewContacts(asmatrix(P),asmatrix(N),0.3,EquilibriumAlgorithm.EQUILIBRIUM_ALGORITHM_LP)
+eq.setNewContacts(P, N, 0.3, EquilibriumAlgorithm.EQUILIBRIUM_ALGORITHM_PP)
+# eq.setNewContacts(P,N,0.3,EquilibriumAlgorithm.EQUILIBRIUM_ALGORITHM_LP)
 
 # setting up optimization problem
-c0 = matrix([0., 0., 1.]).T
-# dc0 = matrix(np.random.uniform(-1, 1, size=3));
-dc0 = matrix([0.1, 0., 0.]).T
-l0 = matrix([0., 0., 0.]).T
+c0 = array([0., 0., 1.])
+# dc0 = array(np.random.uniform(-1, 1, size=3));
+dc0 = array([0.1, 0., 0.])
+l0 = array([0., 0., 0.])
 T = 1.2
 tstep = -1.
 
@@ -45,7 +44,7 @@ assert (a.success)
 a.c_of_t(0)
 a.dL_of_t(T)
 
-Kin = matrix(np.identity(3))
+Kin = np.identity(3)
 kin = 10 * np.ones(3)
 # TODO: Invalid sizes when resizing a matrix or array.
 # a = zeroStepCapturability(eq, c0, dc0, l0, False, T, tstep, Kin, matrix(kin))
@@ -60,11 +59,11 @@ kin = 10 * np.ones(3)
 # testing contactData
 cData = ContactData(Equilibrium("test", 54., 4))
 ceq = cData.contactPhase_
-ceq.setNewContacts(asmatrix(P), asmatrix(N), 0.3, EquilibriumAlgorithm.EQUILIBRIUM_ALGORITHM_PP)
+ceq.setNewContacts(P, N, 0.3, EquilibriumAlgorithm.EQUILIBRIUM_ALGORITHM_PP)
 assert cData.contactPhase_.getAlgorithm(
 ) == EquilibriumAlgorithm.EQUILIBRIUM_ALGORITHM_PP, "modifying ceq should modify cData.contactPhase_"
 
-Id = matrix([[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]])
+Id = array([[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]])
 
 excep = False
 try:
@@ -72,12 +71,12 @@ try:
 except RuntimeError:
     excep = True
 assert excep, "[ERROR] No kin assigned should have raised exception"
-cData.setKinematicConstraints(Id, matrix([0., 0., 1.]).T)
+cData.setKinematicConstraints(Id, array([0., 0., 1.]))
 cData.Kin_
 
 excep = False
 try:
-    cData.setKinematicConstraints(Id, matrix([0., 0., 0., 1.]).T)
+    cData.setKinematicConstraints(Id, array([0., 0., 0., 1.]))
 except RuntimeError:
     excep = True
 assert excep, "[ERROR] Miss matching matrix and vector should raise an error"
@@ -88,12 +87,12 @@ try:
 except RuntimeError:
     excep = True
 assert excep, "[ERROR] No Ang_ assigned should have raised exception"
-cData.setAngularConstraints(Id, matrix([0., 0., 1.]).T)
+cData.setAngularConstraints(Id, array([0., 0., 1.]))
 cData.Ang_
 
 excep = False
 try:
-    cData.setAngularConstraints(Id, matrix([0., 0., 0., 1.]).T)
+    cData.setAngularConstraints(Id, array([0., 0., 0., 1.]))
 except RuntimeError:
     excep = True
 assert excep, "[ERROR] Missmatching matrix and vector should raise an error"
@@ -117,7 +116,7 @@ assert c.reduce_h_ != old
 # testing problem data
 c = ProblemData()
 
-nv = matrix([0., 0., 10.]).T
+nv = array([0., 0., 10.])
 old = c.c0_
 c.c0_ = nv
 assert (c.c0_ != old).any()
@@ -151,7 +150,7 @@ pD.constraints_.flag_ = ConstraintFlag.INIT_POS | ConstraintFlag.INIT_VEL | Cons
 
 def initContactData(pD):
     cData = ContactData(Equilibrium("test", 54., 4))
-    cData.contactPhase_.setNewContacts(asmatrix(P), asmatrix(N), 0.3, EquilibriumAlgorithm.EQUILIBRIUM_ALGORITHM_PP)
+    cData.contactPhase_.setNewContacts(P, N, 0.3, EquilibriumAlgorithm.EQUILIBRIUM_ALGORITHM_PP)
     pD.addContact(cData)
 
 
@@ -159,23 +158,23 @@ def initContactData(pD):
 
 pD.c0_ = c0
 pD.dc0_ = dc0
-res = computeCOMTraj(pD, matrix([0.4, 0.4, 0.4]).T, 0.05)
+res = computeCOMTraj(pD, array([0.4, 0.4, 0.4]), 0.05)
 # test glpk only if defined
 try:
     test = SOLVER_GLPK
-    res = computeCOMTraj(pD, matrix([0.4, 0.4, 0.4]).T, 0.05, SOLVER_GLPK)
+    res = computeCOMTraj(pD, array([0.4, 0.4, 0.4]), 0.05, SOLVER_GLPK)
 except NameError:
     print("[WARNING] SOLVER_GLPK is not defined.")
     print("Consider installing GLPK if you are using CROC with a force formulation")
 
-res = computeCOMTraj(pD, matrix([0.4, 0.4, 0.4]).T, 0.05, SOLVER_QUADPROG)
-#  res = computeCOMTraj(pD,matrix([0.4,0.4,0.4]).T,0.05,SOLVER_QUADPROG_SPARSE)
+res = computeCOMTraj(pD, array([0.4, 0.4, 0.4]), 0.05, SOLVER_QUADPROG)
+#  res = computeCOMTraj(pD,array([0.4,0.4,0.4]),0.05,SOLVER_QUADPROG_SPARSE)
 assert np.linalg.norm(res.c_of_t.derivate(1.2, 1)) < 0.00000001
 
 # non matching time step and contact phases
 excep = False
 try:
-    res = computeCOMTraj(pD, matrix([0.4, 0.4]).T, 0.05)
+    res = computeCOMTraj(pD, array([0.4, 0.4]), 0.05)
 except RuntimeError:
     excep = True
 assert excep, "[ERROR] computeCOMTraj should have raised exception"