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@EveCharbie
EveCharbie committed Feb 2, 2024
1 parent be20ae6 commit 3c1e939
Showing 1 changed file with 3 additions and 156 deletions.
159 changes: 3 additions & 156 deletions tests/shard6/test_global_stochastic_except_collocation.py
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@
import platform

import numpy as np
from casadi import DM, vertcat, Function
from casadi import DM, vertcat
from bioptim import Solver, SolutionMerge

from bioptim.examples.stochastic_optimal_control.arm_reaching_torque_driven_implicit import ExampleType
Expand Down Expand Up @@ -256,118 +256,6 @@ def test_arm_reaching_muscle_driven(use_sx):
),
)

# np.testing.assert_almost_equal(
# cov[:, -2],
# np.array(
# [
# 0.00033791,
# 0.00039624,
# 0.00070543,
# 0.00124988,
# 0.00021535,
# 0.00029579,
# 0.00024912,
# 0.00028454,
# 0.00025029,
# 0.00030357,
# 0.00039624,
# 0.00061519,
# 0.00019818,
# 0.00228786,
# 0.00029938,
# 0.00042956,
# 0.00038645,
# 0.00039457,
# 0.00036173,
# 0.00042616,
# 0.00070543,
# 0.00019818,
# 0.00482193,
# -0.00067968,
# 0.00027328,
# 0.00027578,
# 0.00012372,
# 0.00035437,
# 0.00024831,
# 0.00035016,
# 0.00124988,
# 0.00228786,
# -0.00067968,
# 0.01031238,
# 0.00110132,
# 0.00158725,
# 0.00147344,
# 0.00143574,
# 0.00134504,
# 0.00155263,
# 0.00021535,
# 0.00029938,
# 0.00027328,
# 0.00110132,
# 0.00015521,
# 0.00021834,
# 0.00019183,
# 0.00020435,
# 0.00018451,
# 0.00021946,
# 0.00029579,
# 0.00042956,
# 0.00027578,
# 0.00158725,
# 0.00021834,
# 0.00031178,
# 0.00027831,
# 0.00028783,
# 0.00026257,
# 0.00031046,
# 0.00024912,
# 0.00038645,
# 0.00012372,
# 0.00147344,
# 0.00019183,
# 0.00027831,
# 0.00025442,
# 0.00025227,
# 0.00023393,
# 0.00027342,
# 0.00028454,
# 0.00039457,
# 0.00035437,
# 0.00143574,
# 0.00020435,
# 0.00028783,
# 0.00025227,
# 0.00026958,
# 0.00024298,
# 0.00028959,
# 0.00025029,
# 0.00036173,
# 0.00024831,
# 0.00134504,
# 0.00018451,
# 0.00026257,
# 0.00023393,
# 0.00024298,
# 0.00022139,
# 0.00026183,
# 0.00030357,
# 0.00042616,
# 0.00035016,
# 0.00155263,
# 0.00021946,
# 0.00031046,
# 0.00027342,
# 0.00028959,
# 0.00026183,
# 0.00031148,
# ]
# ),
# )

# simulate
# TestUtils.simulate(sol) # TODO: charbie -> fix this
# for now, it does not match because the integration is done in the multinode_constraint


@pytest.mark.parametrize("use_sx", [True, False])
def test_arm_reaching_torque_driven_explicit(use_sx):
Expand Down Expand Up @@ -529,49 +417,6 @@ def test_arm_reaching_torque_driven_explicit(use_sx):
),
)

# np.testing.assert_almost_equal(
# cov[:, -2],
# np.array(
# [
# 3.04928811e-02,
# -4.37121214e-02,
# 1.14814524e-01,
# -1.66441847e-01,
# -5.31760888e-04,
# -5.31760888e-04,
# -4.37121214e-02,
# 1.21941013e-01,
# -1.65522823e-01,
# 4.54983180e-01,
# 1.77217039e-03,
# 1.77217039e-03,
# 1.14814524e-01,
# -1.65522823e-01,
# 6.31786758e-01,
# -8.93221670e-01,
# -2.17528809e-03,
# -2.17528809e-03,
# -1.66441847e-01,
# 4.54983180e-01,
# -8.93221670e-01,
# 2.42721714e00,
# 7.04045031e-03,
# 7.04045031e-03,
# -5.31760888e-04,
# 1.77217039e-03,
# -2.17528809e-03,
# 7.04045031e-03,
# 2.73513461e-05,
# 2.67634623e-05,
# -5.31760888e-04,
# 1.77217039e-03,
# -2.17528809e-03,
# 7.04045031e-03,
# 2.67634623e-05,
# 2.73513461e-05,
# ]
# ),
# )


@pytest.mark.parametrize("with_cholesky", [True, False])
Expand All @@ -582,6 +427,8 @@ def test_arm_reaching_torque_driven_implicit(with_cholesky, with_scaling, use_sx

if with_cholesky and not with_scaling:
return
if not with_cholesky and not with_scaling and not use_sx:
return

final_time = 0.8
n_shooting = 4
Expand Down

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