more careful checking of xfails in optimal_test.py

murrayrm · murrayrm · commit 5757f2f02fb9 · 2022-12-26T08:47:54.000-08:00
diff --git a/control/tests/optimal_test.py b/control/tests/optimal_test.py
@@ -626,7 +626,7 @@ def final_point_eval(x, u):
         ('collocation', 5, 'u0', 'endpoint'),
         ('collocation', 5, 'input', 'openloop'),# open loop sim fails
         ('collocation', 10, 'input', None),
-        ('collocation', 10, 'u0', None),        # from documenentation
+        ('collocation', 10, 'u0', None),        # from documentation
         ('collocation', 10, 'state', None),
         ('collocation', 20, 'state', None),
     ])
@@ -716,9 +716,11 @@ def vehicle_output(t, x, u, params):
 
         # Make sure we started and stopped at the right spot
         if fail == 'endpoint':
+            assert not np.allclose(result.states[:, -1], xf, rtol=1e-4)
             pytest.xfail("optimization does not converge to endpoint")
         else:
             np.testing.assert_almost_equal(result.states[:, 0], x0, decimal=4)
+            np.testing.assert_almost_equal(result.states[:, -1], xf, decimal=2)
 
             # Simulate the trajectory to make sure it looks OK
             resp = ct.input_output_response(
