Fix test to correct calls of func_KS/ST

f1tenth · Oct 2, 2024 · dfe00de · dfe00de
1 parent de44270
commit dfe00de
Showing 1 changed file with 48 additions and 54 deletions.
diff --git a/tests/test_dynamics.py b/tests/test_dynamics.py
@@ -194,47 +194,43 @@ def test_derivatives(self):
             x_ks,
             0,
             u,
-            params={
-                "mu": self.mu,
-                "C_Sf": self.C_Sf,
-                "C_Sr": self.C_Sr,
-                "lf": self.lf,
-                "lr": self.lr,
-                "h": self.h,
-                "m": self.m,
-                "I": self.I,
-                "s_min": self.s_min,
-                "s_max": self.s_max,
-                "sv_min": self.sv_min,
-                "sv_max": self.sv_max,
-                "v_switch": self.v_switch,
-                "a_max": self.a_max,
-                "v_min": self.v_min,
-                "v_max": self.v_max,
-            },
+            self.mu,
+            self.C_Sf,
+            self.C_Sr,
+            self.lf,
+            self.lr,
+            self.h,
+            self.m,
+            self.I,
+            self.s_min,
+            self.s_max,
+            self.sv_min,
+            self.sv_max,
+            self.v_switch,
+            self.a_max,
+            self.v_min,
+            self.v_max,
         )
         f_st = func_ST(
             x_st,
             0,
             u,
-            params={
-                "mu": self.mu,
-                "C_Sf": self.C_Sf,
-                "C_Sr": self.C_Sr,
-                "lf": self.lf,
-                "lr": self.lr,
-                "h": self.h,
-                "m": self.m,
-                "I": self.I,
-                "s_min": self.s_min,
-                "s_max": self.s_max,
-                "sv_min": self.sv_min,
-                "sv_max": self.sv_max,
-                "v_switch": self.v_switch,
-                "a_max": self.a_max,
-                "v_min": self.v_min,
-                "v_max": self.v_max,
-            },
+            self.mu,
+            self.C_Sf,
+            self.C_Sr,
+            self.lf,
+            self.lr,
+            self.h,
+            self.m,
+            self.I,
+            self.s_min,
+            self.s_max,
+            self.sv_min,
+            self.sv_max,
+            self.v_switch,
+            self.a_max,
+            self.v_min,
+            self.v_max,
         )
 
         start = time.time()
@@ -243,24 +239,22 @@ def test_derivatives(self):
                 x_st,
                 0,
                 u,
-                params={
-                    "mu": self.mu,
-                    "C_Sf": self.C_Sf,
-                    "C_Sr": self.C_Sr,
-                    "lf": self.lf,
-                    "lr": self.lr,
-                    "h": self.h,
-                    "m": self.m,
-                    "I": self.I,
-                    "s_min": self.s_min,
-                    "s_max": self.s_max,
-                    "sv_min": self.sv_min,
-                    "sv_max": self.sv_max,
-                    "v_switch": self.v_switch,
-                    "a_max": self.a_max,
-                    "v_min": self.v_min,
-                    "v_max": self.v_max,
-                },
+                self.mu,
+                self.C_Sf,
+                self.C_Sr,
+                self.lf,
+                self.lr,
+                self.h,
+                self.m,
+                self.I,
+                self.s_min,
+                self.s_max,
+                self.sv_min,
+                self.sv_max,
+                self.v_switch,
+                self.a_max,
+                self.v_min,
+                self.v_max,
             )
         duration = time.time() - start
         avg_fps = 10000 / duration