test_hingedRigidBodyMotorSensor

test_hingedRigidBodyMotorSensor.hingedRigidBodyMotorSensorTestFunction(show_plots, thetaNoiseStd, thetaDotNoiseStd, thetaBias, thetaDotBias, thetaLSB, thetaDotLSB, trueTheta, trueThetaDot, accuracy)

Test method

test_hingedRigidBodyMotorSensor.test_hingedRigidBodyMotorSensor(show_plots, thetaNoiseStd, thetaDotNoiseStd, thetaBias, thetaDotBias, thetaLSB, thetaDotLSB, trueTheta, trueThetaDot, accuracy)

Validation Test Description

This test checks the sensor’s addition of a bias and discretization to the input value.

Test Parameters

Parameters

• thetaNoiseStd (double) – standard deviation of the added noise to theta

• thetaDotNoiseStd (double) – standard deviation of the added noise to thetaDot

• thetaBias (double) – bias added to theta

• thetaDotBias (double) – bias added to thetaDot

• thetaLSB (double) – least significant bit for discretizing theta. Negative means no discretization.

• thetaDotLSB (double) – least significant bit for discretizing thetaDot. Negative means no discretization.

• trueTheta (double) – true value of theta

• trueThetaDot (double) – true value of thetaDot

• accuracy (double) – absolute accuracy value used in the validation tests

Description of Variables Being Tested

The python evaluated sensed value is compared against the module output.