def METHOD_NAME(coefficients_functions):
    """ For randomly set A, B, C, F, g functions. The generated parameters must equal
    those given by equations.
    """
    A, B, C, cnst_F, cnst_g, path, inv_dyn = coefficients_functions
    constraint = toppra.constraint.SecondOrderConstraint(
        inv_dyn, cnst_F, cnst_g, dof=2,
        discretization_scheme=toppra.constraint.DiscretizationType.Collocation)
    a, b, c, F, g, _, _ = constraint.compute_constraint_params(
        path, np.linspace(0, path.duration, 10))
    # Correct params
    q_vec = path(np.linspace(0, path.duration, 10))
    qs_vec = path(np.linspace(0, path.duration, 10), 1)
    qss_vec = path(np.linspace(0, path.duration, 10), 2)
    for i in range(10):
        ai_ = A(q_vec[i]).dot(qs_vec[i])
        bi_ = A(q_vec[i]).dot(qss_vec[i]) + np.dot(qs_vec[i].T, B(q_vec[i]).dot(qs_vec[i]))
        ci_ = C(q_vec[i])
        np.testing.assert_allclose(ai_, a[i])
        np.testing.assert_allclose(bi_, b[i])
        np.testing.assert_allclose(ci_, c[i])
        np.testing.assert_allclose(cnst_F(q_vec[i]), F[i])
        np.testing.assert_allclose(cnst_g(q_vec[i]), g[i])