No. But there are actually a few tests which pass under our testing
framework (bin/test) but not under py.test. Here's the output
sympy/physics/mechanics/tests/test_kane3.py:253:
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
_ _
self = <sympy.physics.mechanics.kane.KanesMethod object at 0x7f921ae68208>
kwargs = {}
def linearize(self, **kwargs):
""" Linearize the equations of motion about a symbolic operating
point.
If kwarg A_and_B is False (default), returns M, A, B, r for the
linearized form, M*[q', u']^T = A*[q_ind, u_ind]^T + B*r.
If kwarg A_and_B is True, returns A, B, r for the linearized
form
dx = A*x + B*r, where x = [q_ind, u_ind]^T. Note that this is
computationally intensive if there are many symbolic
parameters. For
this reason, it may be more desirable to use the default
A_and_B=False,
returning M, A, and B. Values may then be substituted in to
these
matrices, and the state space form found as
A = P.T*M.inv()*A, B = P.T*M.inv()*B, where P =
Linearizer.perm_mat.
In both cases, r is found as all dynamicsymbols in the
equations of
motion that are not part of q, u, q', or u'. They are sorted in
canonical form.
The operating points may be also entered using the ``op_point``
kwarg.
This takes a dictionary of {symbol: value}, or a an iterable of
such
dictionaries. The values may be numberic or symbolic. The more
values
you can specify beforehand, the faster this computation will
run.
As part of the deprecation cycle, the new method will not be
used unless
the kwarg ``new_method`` is set to True. If the kwarg is
missing, or set
to false, the old linearization method will be used. After next
release
the need for this kwarg will be removed.
For more documentation, please see the ``Linearizer`` class."""
if 'new_method' not in kwargs or not kwargs['new_method']:
# User is still using old code.
SymPyDeprecationWarning('The linearize class method has changed
'
'to a new interface, the old method is deprecated. To '
'use the new method, set the kwarg `new_method=True`. '
'For more information, read the docstring '
'of `linearize`.').warn()
> return self._old_linearize()
sympy/physics/mechanics/kane.py:494:
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
_ _
self = <sympy.physics.mechanics.kane.KanesMethod object at 0x7f921ae68208>
def _old_linearize(self):
"""Old method to linearize the equations of motion. Returns a tuple
of
(f_lin_A, f_lin_B, y) for forming [M]qudot = [f_lin_A]qu +
[f_lin_B]y.
Deprecated in favor of new method using Linearizer class.
Please change
your code to use the new `linearize` method."""
if (self._fr is None) or (self._frstar is None):
raise ValueError('Need to compute Fr, Fr* first.')
# Note that this is now unneccessary, and it should never be
# encountered; I still think it should be in here in case the user
# manually sets these matrices incorrectly.
for i in self.q:
if self._k_kqdot.diff(i) != 0 * self._k_kqdot:
raise ValueError('Matrix K_kqdot must not depend on any q.')
t = dynamicsymbols._t
uaux = self._uaux
uauxdot = [diff(i, t) for i in uaux]
# dictionary of auxiliary speeds & derivatives which are equal to
zero
> subdict = dict(list(zip(uaux + uauxdot, [0] * (len(uaux) +
len(uauxdot)))))
sympy/physics/mechanics/kane.py:522:
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
_ _
self = Matrix(0, 0, []), other = []
@wraps(func)
def binary_op_wrapper(self, other):
if hasattr(other, '_op_priority'):
if other._op_priority > self._op_priority:
try:
f = getattr(other, method_name)
except AttributeError:
pass
else:
return f(self)
> return func(self, other)
sympy/core/decorators.py:118:
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
_ _
self = Matrix(0, 0, []), other = []
@call_highest_priority('__radd__')
def __add__(self, other):
> return super(DenseMatrix, self).__add__(_force_mutable(other))
sympy/matrices/dense.py:531:
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
_ _
self = Matrix(0, 0, []), other = []
def __add__(self, other):
"""Return self + other, raising ShapeError if shapes don't match."""
if getattr(other, 'is_Matrix', False):
A = self
B = other
if A.shape != B.shape:
raise ShapeError("Matrix size mismatch.")
alst = A.tolist()
blst = B.tolist()
ret = [S.Zero]*A.rows
for i in range(A.shape[0]):
ret[i] = list(map(lambda j, k: j + k, alst[i], blst[i]))
rv = classof(A, B)._new(ret)
if 0 in A.shape:
rv = rv.reshape(*A.shape)
return rv
> raise TypeError('cannot add matrix and %s' % type(other))
E TypeError: cannot add matrix and <class 'list'>
sympy/matrices/matrices.py:579: TypeError
------------------------------- Captured stderr
--------------------------------
/home/ptb/gitrepos/sympy/sympy/physics/mechanics/kane.py:493:
SymPyDeprecationWarning:
The linearize class method has changed to a new interface, the old
method is deprecated. To use the new method, set the kwarg
`new_method=True`. For more information, read the docstring of
`linearize`.
'of `linearize`.').warn()
On Fri, Sep 26, 2014 at 9:28 AM, Jason Moore <moorepa...@gmail.com> wrote:
> BTW, Peter, did that kane3 test pass on your machine?
>
>
> Jason
> moorepants.info
> +01 530-601-9791
>
> On Fri, Sep 26, 2014 at 11:27 AM, Jason Moore <moorepa...@gmail.com>
> wrote:
>
>> It is certainly too slow to be a useful test. But that example should be
>> available to run at least before any SymPy release. We have many unit tests
>> in the mechanics package, but that example provides a minimal example that
>> exercises almost all of the functionality in the Kane class. I'd personally
>> like a suite of benchmark multibody dynamics problems with known results
>> that we could run to exercise the mechanics package, with this example as
>> one.
>>
>> But regardless, it is fine to skip it now because it obviously is not
>> working and we haven't fixed that.
>>
>>
>> Jason
>> moorepants.info
>> +01 530-601-9791
>>
>> On Fri, Sep 26, 2014 at 11:21 AM, James Crist <crist...@umn.edu> wrote:
>>
>>> The `test_kane3` test I think is not a good test in general. It's going
>>> to run slow, and personally I've never had it complete (although my laptop
>>> is slow). It's a fine example of the capabilities of our library, but as a
>>> test - not so good. I doubt the rest of the mechanics team would agree with
>>> me on removing it though, so perhaps a veryslow tag should be used?
>>>
>>> - Jim
>>>
>>>
>>> On Friday, September 26, 2014 10:13:33 AM UTC-5, Peter Brady wrote:
>>>>
>>>> Thanks to some recent PR's I was able to run the slow tests under
>>>> py.test which supports a --durations flags. Here are the slowest of the
>>>> slow tests:
>>>>
>>>> ========================== slowest 15 test durations
>>>> ===========================
>>>> 6745.05s call sympy/physics/mechanics/tests/test_kane3.py::
>>>> test_bicycle
>>>> 2083.29s call sympy/solvers/tests/test_ode.py::test_1st_exact2
>>>> 1522.66s call sympy/integrals/tests/test_failing_integrals.py::
>>>> test_issue_4540
>>>> 1221.33s call sympy/core/tests/test_wester.py::test_W25
>>>> 1090.84s call sympy/integrals/tests/test_failing_integrals.py::
>>>> test_issue_4941
>>>> 963.31s call sympy/solvers/tests/test_solvers.py::test_issue_6528
>>>> 437.72s call sympy/integrals/tests/test_heurisch.py::test_pmint_
>>>> WrightOmega
>>>> 411.27s call sympy/core/tests/test_wester.py::test_W24
>>>> 138.77s call sympy/polys/tests/test_groebnertools.py::test_
>>>> benchmark_czichowski_buchberger
>>>> 111.14s call sympy/integrals/tests/test_failing_integrals.py::test_
>>>> issue_4891
>>>> 108.96s call sympy/functions/elementary/tests/test_trigonometric.py
>>>> ::test_tancot_rewrite_sqrt
>>>> 90.53s call sympy/stats/tests/test_finite_rv.py::
>>>> test_binomial_symbolic
>>>> 67.98s call sympy/core/tests/test_wester.py::test_W6
>>>> 62.59s call sympy/simplify/tests/test_hyperexpand.py::test_
>>>> prudnikov_3
>>>> 48.68s call sympy/simplify/tests/test_hyperexpand.py::test_
>>>> prudnikov_8
>>>>
>>>>
>>>> Currently the timeout limit is set to 180s on the slow tests and due
>>>> to issues with travis, the signal does not appear to always be respected
>>>> leading to travis timeout errors. I think there are two good solutions to
>>>> this problem:
>>>>
>>>> 1. Mark all the tests which report runtimes over 180s as skip
>>>>
>>>> 2. Introduce a new mark 'veryslow` or something like that so that these
>>>> tests can still be run if someone chooses by setting the appropriate flag.
>>>>
>>>> Any thoughts? Votes?
>>>>
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