98051ba0c9
- Move existing OndselSolver, GNN ML layer, and tooling into GNN/ directory for integration in later phases - Add Create addon scaffold: package.xml, Init.py - Add expression DAG with eval, symbolic diff, simplification - Add parameter table with fixed/free variable tracking - Add quaternion rotation as polynomial Expr trees - Add RigidBody entity (7 DOF: position + unit quaternion) - Add constraint classes: Coincident, DistancePointPoint, Fixed - Add Newton-Raphson solver with symbolic Jacobian + numpy lstsq - Add pre-solve passes: substitution + single-equation - Add DOF counting via Jacobian SVD rank - Add KindredSolver IKCSolver bridge for kcsolve integration - Add 82 unit tests covering all modules Registers as 'kindred' solver via kcsolve.register_solver() when loaded by Create's addon_loader.
68 lines
1.8 KiB
Python
68 lines
1.8 KiB
Python
"""Tests for the parameter table."""
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import numpy as np
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import pytest
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from kindred_solver.expr import Var
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from kindred_solver.params import ParamTable
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class TestParamTable:
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def test_add_and_get(self):
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pt = ParamTable()
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v = pt.add("x", 3.0)
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assert isinstance(v, Var)
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assert v.name == "x"
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assert pt.get_value("x") == 3.0
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def test_duplicate_raises(self):
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pt = ParamTable()
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pt.add("x")
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with pytest.raises(ValueError, match="Duplicate"):
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pt.add("x")
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def test_fixed(self):
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pt = ParamTable()
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pt.add("x", 1.0, fixed=True)
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pt.add("y", 2.0, fixed=False)
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assert pt.is_fixed("x")
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assert not pt.is_fixed("y")
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assert pt.free_names() == ["y"]
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def test_fix(self):
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pt = ParamTable()
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pt.add("x", 1.0)
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assert "x" in pt.free_names()
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pt.fix("x")
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assert "x" not in pt.free_names()
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assert pt.is_fixed("x")
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def test_env(self):
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pt = ParamTable()
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pt.add("a", 1.0)
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pt.add("b", 2.0, fixed=True)
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env = pt.get_env()
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assert env == {"a": 1.0, "b": 2.0}
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def test_free_vector(self):
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pt = ParamTable()
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pt.add("a", 1.0)
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pt.add("b", 2.0, fixed=True)
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pt.add("c", 3.0)
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vec = pt.get_free_vector()
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np.testing.assert_array_equal(vec, [1.0, 3.0])
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def test_set_free_vector(self):
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pt = ParamTable()
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pt.add("a", 0.0)
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pt.add("b", 0.0)
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pt.set_free_vector(np.array([5.0, 7.0]))
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assert pt.get_value("a") == 5.0
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assert pt.get_value("b") == 7.0
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def test_n_free(self):
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pt = ParamTable()
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pt.add("a", 0.0)
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pt.add("b", 0.0, fixed=True)
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pt.add("c", 0.0)
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assert pt.n_free() == 2
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