test_thrusterPlatformState

test_thrusterPlatformState.test_platformRotation(show_plots, theta1, theta2, accuracy)

Validation Test Description

This unit test script tests the correctness of the output thruster configuration msg outputted by Module: thrusterPlatformState. The correctness of the output is determined checking that the thrust unit direction vector, magnitude, and application point, match the rigid body rotation described by the input tip and tild angles theta1 and theta2.

Test Parameters

This test provides input tip and tilt angles to the module, as well as the thruster configuration information expressed with respect to the platform frame F.

Parameters

• theta1 (rad) – platform tip angle

• theta2 (rad) – platform tilt angle

• accuracy (float) – accuracy within which results are considered to match the truth values.

Description of Variables Being Tested

In this test, offsets are given between the thrust application point and the origin of the platform frame (\(r_{T/F}\)), and between the origin of the platform frame and the origin of the mount frame (\(r_{F/M}\)). These offset vectors are hard coded into the unit test. The test checks the correctness of the output thrust unit direction vector and magnitude in the body frame, as well as the thrust application point location with respect to the origin of the body frame B, in body frame coordinates.