Mirrors_Framework/RBF-aPID-Controller
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Test init of the controller.

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Andru Liu
2024-10-09 20:09:52 -07:00
parent 276f1143d9
commit d3aeed33ce
1 changed files with 13 additions and 1 deletions
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TF_Implementation/test/test_aPID_tf.py
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@@ -13,7 +13,19 @@ class TestAdaptivePIDTf(unittest.TestCase):
self.n_centers = 5
self.input_dim = 3
self.rbf_model = RBFAdaptiveModel(self.n_centers, self.input_dim)
self.pid_controller = AdaptivePIDTf(self.Kp, self.Ki, self.Kd, self.rbf_model)
self.apid = AdaptivePIDTf(self.Kp, self.Ki, self.Kd, self.rbf_model)
def test_initialization(self):
""" Test initialization of the controller."""
self.assertEqual(self.apid.Kp, self.Kp)
self.assertEqual(self.apid.Ki, self.Ki)
self.assertEqual(self.apid.Kd, self.Kd)
self.assertIsInstance(self.apid.rbf_model, RBFAdaptiveModel)
self.assertEqual(self.apid.prev_err, 0)
self.assertEqual(self.apid.error, 0)
self.assertEqual(self.apid.integral, 0)
self.assertEqual(self.apid.derivative, 0)
if __name__ == '__main__':