public void SetValueTwice_NamedVariable_ReturnsSecondVal()
{
SillyParser p = new SillyParser(null);
Leaf n = (Leaf)p.m("a");
p.SetVar("a", 2);
Assert.AreEqual(2, n.Eval());
p.SetVar("a", 3);
Assert.AreEqual(3, n.Eval());
}
public void Simplify_NamedVariableWithVal_ReturnsVal()
{
SillyParser p = new SillyParser(null);
Leaf n = (Leaf)p.m("a");
p.SetVar("a", 2);
Assert.AreEqual(2, n.Eval());
}
public void Simplify_NegativeNegations_success()
{
SillyParser p = new SillyParser(null);
Unary node = (Unary)p.m("-", p.m("a"));
Unary neg = (Unary)node.Negate();
Leaf negSimp = (Leaf)neg.Simplify();
Assert.AreEqual("--a", neg.Unparse());
Assert.AreEqual("a", negSimp.Unparse());
p.SetVar("a", 2);
Assert.AreEqual(-2, node.Eval());
Assert.AreEqual(2, neg.Eval());
Assert.AreEqual(2, negSimp.Eval());
}
public void IntermediateHomogeneousTransformationsTest()
{
SillyParser p = (SillyParser)SillyParser.GetInstance();
DenavitHartenbergTable table = new DenavitHartenbergTable(p.InterpretMatrix(
$"0, 0, d1, th1;" +
$"0, 1.5*PI, d2, 1.5*PI;" +
$"0, 0, d3, 0.5*PI"));
Matrix A_0_1 = p.InterpretMatrix(
"cos(th1), -sin(th1), 0, 0;" +
"sin(th1), cos(th1), 0, 0;" +
"0, 0, 1, d1;" +
"0, 0, 0, 1").Simplify();
Matrix A_1_2 = p.InterpretMatrix(
"0, 0, 1, 0;" +
"-1, 0, 0, 0;" +
"0, -1, 0, d2;" +
"0, 0, 0, 1").Simplify();
Matrix A_2_3 = p.InterpretMatrix(
"0, -1, 0, 0;" +
"1, 0, 0, 0;" +
"0, 0, 1, d3;" +
"0, 0, 0, 1").Simplify();
p.SetVar("PI", Math.PI);
HomogeneousTransformation[] HTs = table.IntermediateHomogeneousTransformations();
Matrix[] HTMs = new Matrix[HTs.Length];
for (int i = 0; i < HTs.Length; i++)
{
HTMs[i] = new Matrix(HTs[i].SubMatrix(0, 4, 0, 4));
HTMs[i] = HTMs[i].Simplify();
}
Assert.AreEqual(A_0_1, HTMs[0], $"Expected \n{A_0_1.PrettyPrint()}\nbut was\n{HTMs[0].PrettyPrint()}");
Assert.AreEqual(A_1_2, HTMs[1], $"Expected \n{A_1_2.PrettyPrint()}\nbut was\n{HTMs[1].PrettyPrint()}");
Assert.AreEqual(A_2_3, HTMs[2], $"Expected \n{A_2_3.PrettyPrint()}\nbut was\n{HTMs[2].PrettyPrint()}");
}