Apply sign to signals when loading dsres.mat files

Author: t-sommer

.gitignore

@@ -40,6 +40,7 @@ nosetests.xml
 # data files
 *.h5
 *.mat
+!DoublePendulum.mat
 
 # temp files
 ~*

sdf/dsres.py

@@ -130,9 +130,9 @@ def _load_mat(filename):
             pass
 
         if d == 1:
-            data = cons[c, 0]
+            data = cons[c, 0] * s
         else:
-            data = traj[c, :]
+            data = traj[c, :] * s
 
         if 'type' in info:
             if info['type'] == 'Integer' or 'Boolean':

tests/DoublePendulum.mat

@@ -298,6 +298,12 @@ def test_dsres_load_dataset(self):
         self.assertEqual(ds.data.dtype, np.int32)
         self.assertEqual(ds.data, 1)
 
+    def test_dsres_inverted_signals(self):
+        path = os.path.dirname(__file__)
+        filename = os.path.join(path, 'DoublePendulum.mat')
+        rvisobj = sdf.load(filename, '/world/y_label/cylinders[2]/rvisobj[1]')
+        self.assertTrue(rvisobj.data < 0)
+
     @skipIf(platform.system() != 'Windows', "Test requires display")
     def test_interp_1d_example(self):
         runpy.run_module('sdf.examples.interp_1d')