updated unit test + flatness calc; working

murrayrm · murrayrm · commit 24ee76f49b0b · 2012-11-11T19:11:24.000Z
diff --git a/test/linsys_test.py b/test/linsys_test.py
@@ -17,7 +17,7 @@ class TestLinsys(unittest.TestCase):
     def setUp(self):
         self.maxStates = 5     # maximum number of states to try
         self.numTests = 4      # number of tests per system size
-        self.debug = True      # turn on debugging output
+        self.debug = False     # turn on debugging output
 
     def test_point_to_point(self):
         # Machine precision for floats.
@@ -45,8 +45,8 @@ def test_point_to_point(self):
                 # Generate a trajectory from start to stop
                 systraj = tg.linear_point_to_point(linsys, x0, xf, Tf)
                 xd, ud = systraj.eval((0,Tf))
-                np.testing.assert_array_almost_equal(x0, xd[0,:])
-                np.testing.assert_array_almost_equal(xf, xd[1,:])
+                np.testing.assert_array_almost_equal(x0, xd[0,:], decimal=4)
+                np.testing.assert_array_almost_equal(xf, xd[1,:], decimal=4)
         
 def suite():
    return unittest.TestLoader().loadTestsFromTestCase(TestLinsys)
diff --git a/trajgen/linflat.py b/trajgen/linflat.py
@@ -22,6 +22,7 @@ def __init__(self, sys):
 
     # Compute state and input from flat flag
     def reverse(self, zflag):
-        x = self.Tinv * np.matrix(zflag[-2::-1]).T
-        u = zflag[-1] - self.F * x
+        z = np.matrix(zflag[-2::-1]).T
+        x = self.Tinv * z
+        u = zflag[-1] - self.F * z
         return np.reshape(x, self.states), np.reshape(u, self.inputs)
