Fixed Wrappers and changed tests to reflect on correct Wrapper behavior

upb-lea · May 29, 2024 · dd33248 · dd33248
1 parent 35e1b30
commit dd33248
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Showing 4 changed files with 5 additions and 5 deletions.
diff --git a/src/gym_electric_motor/physical_system_wrappers/cos_sin_processor.py b/src/gym_electric_motor/physical_system_wrappers/cos_sin_processor.py
@@ -84,6 +84,6 @@ def _get_cos_sin(self, state):
         return np.concatenate(
             (
                 state,
-                [np.cos(state[self._angle_index]*np.pi), np.sin(state[self._angle_index])*np.pi],
+                [np.cos(state[self._angle_index]*np.pi), np.sin(state[self._angle_index]*np.pi)],
             )
         )
diff --git a/src/gym_electric_motor/physical_system_wrappers/dq_to_abc_action_processor.py b/src/gym_electric_motor/physical_system_wrappers/dq_to_abc_action_processor.py
@@ -61,7 +61,7 @@ def set_physical_system(self, physical_system):
         super().set_physical_system(physical_system)
         self._omega_index = physical_system.state_names.index('omega')
         self._angle_index = physical_system.state_names.index(self._angle_name)
-        self._pole_pair_number = physical_system._electrical_motor.motor_parameter['p']
+        self._pole_pair_number = physical_system.electrical_motor.motor_parameter['p']
         assert self._angle_name in physical_system.state_names, \
             f'Angle {self._angle_name} not in the states of the physical system. ' \
             f'Probably a flux observer is required.'

diff --git a/tests/test_physical_system_wrappers/test_cos_sin_processor.py b/tests/test_physical_system_wrappers/test_cos_sin_processor.py
@@ -45,6 +45,6 @@ def test_simulate(self, processor, physical_system, action):
         assert all(
             state
             == np.concatenate(
-                (ps_state, [np.cos(cos_sin_state), np.sin(cos_sin_state)])
+                (ps_state, [np.cos(cos_sin_state*np.pi), np.sin(cos_sin_state*np.pi)])
             )
         )
diff --git a/tests/test_physical_system_wrappers/test_dq_to_abc_action_processor.py b/tests/test_physical_system_wrappers/test_dq_to_abc_action_processor.py
@@ -35,12 +35,12 @@ def test_action_space(self, processor, physical_system):
             (
                 np.array([0.0, 1.0]),
                 np.array([12.8, 0.123, 0.0]),
-                np.array([-0.23752263, 0.96000281, -0.72248018]),
+                np.array([-0.45595422,  0.99874252, -0.54278829]),
             ),
             (
                 np.array([0.0, 0.5]),
                 np.array([-10.0, 0.123, 0.0]),
-                np.array([-0.49324109, 0.31757774, 0.17566335]),
+                np.array([ 0.36929056, -0.47656712,  0.10727657]),
             ),
         ],
     )