Creation of a test file for planar_pcs_num.py

Corrected documentation
Removal of unnecessary imports
Ready to merge

Author: solangegbv

examples/benchmark_planar_pcs.py

@@ -9,7 +9,7 @@
 import matplotlib.pyplot as plt
 import numpy as onp
 from pathlib import Path
-from typing import Callable, Dict
+from typing import Callable, Dict, Optional, Literal
 
 import jsrm
 from jsrm import ode_factory
@@ -23,10 +23,10 @@
 
 def simulate_planar_pcs_value_eval(
     num_segments: int,
-    type_of_derivation: str = "symbolic",
-    type_of_integration: str = "gauss-legendre",
+    type_of_derivation: Optional[Literal["symbolic", "numeric"]] = "symbolic",
+    type_of_integration: Optional[Literal["gauss-legendre", "gauss-kronrad", "trapezoid"]] = "gauss-legendre",
     param_integration: int = None,
-    type_of_jacobian: str = "explicit",
+    type_of_jacobian: Optional[Literal["explicit", "autodiff"]] = "explicit",
     robot_params: Dict[str, Array] = None,
     strain_selector: Array = None,
     q0: Array = None,

src/jsrm/systems/planar_pcs.py

@@ -261,7 +261,10 @@ def actuation_mapping_fn(
             return A
 
     def forward_kinematics_fn(
-        params: Dict[str, Array], q: Array, s: Array, eps: float = global_eps
+        params: Dict[str, Array], 
+        q: Array, 
+        s: Array, 
+        eps: float = global_eps
     ) -> Array:
         """
         Evaluate the forward kinematics the tip of the links
@@ -294,7 +297,10 @@ def forward_kinematics_fn(
         return chi
 
     def jacobian_fn(
-        params: Dict[str, Array], q: Array, s: Array, eps: float = global_eps
+        params: Dict[str, Array], 
+        q: Array, 
+        s: Array, 
+        eps: float = global_eps
     ) -> Array:
         """
         Evaluate the forward kinematics the tip of the links
@@ -329,7 +335,10 @@ def jacobian_fn(
         return J
 
     def dynamical_matrices_fn(
-        params: Dict[str, Array], q: Array, q_d: Array, eps: float = 1e4 * global_eps
+        params: Dict[str, Array], 
+        q: Array, 
+        q_d: Array, 
+        eps: float = 1e4 * global_eps
     ) -> Tuple[Array, Array, Array, Array, Array, Array]:
         """
         Compute the dynamical matrices of the system.
@@ -377,7 +386,11 @@ def dynamical_matrices_fn(
 
         return B, C, G, K, D, alpha
 
-    def kinetic_energy_fn(params: Dict[str, Array], q: Array, q_d: Array) -> Array:
+    def kinetic_energy_fn(
+        params: Dict[str, Array], 
+        q: Array, 
+        q_d: Array
+    ) -> Array:
         """
         Compute the kinetic energy of the system.
         Args: