Source code for test_extForceTorqueIntegrated


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# Copyright (c) 2016, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
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import pytest
from Basilisk.simulation import extForceTorque
from Basilisk.simulation import gravityEffector
from Basilisk.simulation import spacecraft
from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import macros
from Basilisk.utilities import unitTestSupport  # general support file with common unit test functions


# uncomment this line is this test is to be skipped in the global unit test run, adjust message as needed
# @pytest.mark.skipif(conditionstring)
# uncomment this line if this test has an expected failure, adjust message as needed
# @pytest.mark.xfail() # need to update how the RW states are defined
# provide a unique test method name, starting with test_

[docs]@pytest.mark.parametrize("function", ["extForceBodyAndTorque" , "extForceInertialAndTorque" ]) def test_ForceBodyAndTorqueAllTest(show_plots, function): """Module Unit Test""" [testResults, testMessage] = eval(function + '()') assert testResults < 1, testMessage
[docs]def extForceBodyAndTorque(): """Module Unit Test""" # The __tracebackhide__ setting influences pytest showing of tracebacks: # the mrp_steering_tracking() function will not be shown unless the # --fulltrace command line option is specified. __tracebackhide__ = True testFailCount = 0 # zero unit test result counter testMessages = [] # create empty list to store test log messages scObject = spacecraft.Spacecraft() scObject.ModelTag = "spacecraftBody" unitTaskName = "unitTask" # arbitrary name (don't change) unitProcessName = "TestProcess" # arbitrary name (don't change) # Create a sim module as an empty container unitTestSim = SimulationBaseClass.SimBaseClass() # Create test thread testProcessRate = macros.sec2nano(0.1) # update process rate update time testProc = unitTestSim.CreateNewProcess(unitProcessName) testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate)) # Add test module to runtime call list unitTestSim.AddModelToTask(unitTaskName, scObject) unitTestSim.earthGravBody = gravityEffector.GravBodyData() unitTestSim.earthGravBody.planetName = "earth_planet_data" unitTestSim.earthGravBody.mu = 0.3986004415E+15 # meters! unitTestSim.earthGravBody.isCentralBody = True scObject.gravField.gravBodies = spacecraft.GravBodyVector([unitTestSim.earthGravBody]) # Define initial conditions scObject.hub.mHub = 750.0 scObject.hub.r_BcB_B = [[0.0], [0.0], [0.0]] scObject.hub.IHubPntBc_B = [[900.0, 0.0, 0.0], [0.0, 800.0, 0.0], [0.0, 0.0, 600.0]] scObject.hub.r_CN_NInit = [[-4020338.690396649], [7490566.741852513], [5248299.211589362]] scObject.hub.v_CN_NInit = [[-5199.77710904224], [-3436.681645356935], [1041.576797498721]] scObject.hub.sigma_BNInit = [[0.1], [0.2], [-0.3]] scObject.hub.omega_BN_BInit = [[0.001], [-0.01], [0.03]] unitTestSim.InitializeSimulation() extFTObject = extForceTorque.ExtForceTorque() extFTObject.ModelTag = "externalDisturbance" extFTObject.extTorquePntB_B = [[-1], [1], [-1]] extFTObject.extForce_B = [[1], [2], [3]] scObject.addDynamicEffector(extFTObject) unitTestSim.AddModelToTask(unitTaskName, extFTObject) posRef = scObject.dynManager.getStateObject("hubPosition") sigmaRef = scObject.dynManager.getStateObject("hubSigma") stopTime = 60.0*10.0 unitTestSim.ConfigureStopTime(macros.sec2nano(stopTime)) unitTestSim.ExecuteSimulation() dataPos = posRef.getState() dataSigma = sigmaRef.getState() dataPos = [[dataPos[0][0], dataPos[1][0], dataPos[2][0]]] dataSigma = [[dataSigma[0][0], dataSigma[1][0], dataSigma[2][0]]] truePos = [ [-6.78136423e+06, 4.94628599e+06, 5.48655395e+06] ] trueSigma = [ [4.91025978e-01, -4.21586707e-01, 3.61459503e-01] ] accuracy = 1e-8 for i in range(0,len(truePos)): # check a vector values if not unitTestSupport.isArrayEqualRelative(dataPos[i],truePos[i],3,accuracy): testFailCount += 1 testMessages.append("FAILED: External Body Force and Torque failed pos unit test") for i in range(0,len(trueSigma)): # check a vector values if not unitTestSupport.isArrayEqualRelative(dataSigma[i],trueSigma[i],3,accuracy): testFailCount += 1 testMessages.append("FAILED: External Body Force and Torque failed attitude unit test") if testFailCount == 0: print("PASSED: " + " External Body Force and Torque Inegrated Sim Test") assert testFailCount < 1, testMessages # return fail count and join into a single string all messages in the list # testMessage return [testFailCount, ''.join(testMessages)]
def extForceInertialAndTorque(): # The __tracebackhide__ setting influences pytest showing of tracebacks: # the mrp_steering_tracking() function will not be shown unless the # --fulltrace command line option is specified. __tracebackhide__ = True testFailCount = 0 # zero unit test result counter testMessages = [] # create empty list to store test log messages scObject = spacecraft.Spacecraft() scObject.ModelTag = "spacecraftBody" unitTaskName = "unitTask" # arbitrary name (don't change) unitProcessName = "TestProcess" # arbitrary name (don't change) # Create a sim module as an empty container unitTestSim = SimulationBaseClass.SimBaseClass() # Create test thread testProcessRate = macros.sec2nano(0.1) # update process rate update time testProc = unitTestSim.CreateNewProcess(unitProcessName) testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate)) # Add test module to runtime call list unitTestSim.AddModelToTask(unitTaskName, scObject) unitTestSim.earthGravBody = gravityEffector.GravBodyData() unitTestSim.earthGravBody.planetName = "earth_planet_data" unitTestSim.earthGravBody.mu = 0.3986004415E+15 # meters! unitTestSim.earthGravBody.isCentralBody = True scObject.gravField.gravBodies = spacecraft.GravBodyVector([unitTestSim.earthGravBody]) # Define initial conditions of the spacecraft scObject.hub.mHub = 750.0 scObject.hub.r_BcB_B = [[0.0], [0.0], [0.0]] scObject.hub.IHubPntBc_B = [[900.0, 0.0, 0.0], [0.0, 800.0, 0.0], [0.0, 0.0, 600.0]] scObject.hub.r_CN_NInit = [[-4020338.690396649], [7490566.741852513], [5248299.211589362]] scObject.hub.v_CN_NInit = [[-5199.77710904224], [-3436.681645356935], [1041.576797498721]] scObject.hub.sigma_BNInit = [[0.1], [0.2], [-0.3]] scObject.hub.omega_BN_BInit = [[0.001], [-0.01], [0.03]] unitTestSim.InitializeSimulation() extFTObject = extForceTorque.ExtForceTorque() extFTObject.ModelTag = "externalDisturbance" extFTObject.extTorquePntB_B = [[-1], [1], [-1]] extFTObject.extForce_N = [[-1], [-0.5], [0.5]] scObject.addDynamicEffector(extFTObject) unitTestSim.AddModelToTask(unitTaskName, extFTObject) posRef = scObject.dynManager.getStateObject("hubPosition") sigmaRef = scObject.dynManager.getStateObject("hubSigma") stopTime = 60.0*10.0 unitTestSim.ConfigureStopTime(macros.sec2nano(stopTime)) unitTestSim.ExecuteSimulation() dataPos = posRef.getState() dataSigma = sigmaRef.getState() dataPos = [[dataPos[0][0], dataPos[1][0], dataPos[2][0]]] dataSigma = [[dataSigma[0][0], dataSigma[1][0], dataSigma[2][0]]] truePos = [ [-6.78183900e+06, 4.94674963e+06, 5.48686274e+06] ] trueSigma = [ [4.91025978e-01, -4.21586707e-01, 3.61459503e-01] ] accuracy = 1e-8 for i in range(0,len(truePos)): # check a vector values if not unitTestSupport.isArrayEqualRelative(dataPos[i],truePos[i],3,accuracy): testFailCount += 1 testMessages.append("FAILED: External Inertial Force and Torque failed pos unit test") for i in range(0,len(trueSigma)): # check a vector values if not unitTestSupport.isArrayEqualRelative(dataSigma[i],trueSigma[i],3,accuracy): testFailCount += 1 testMessages.append("FAILED: External Inertial Force and Torque failed attitude unit test") if testFailCount == 0: print("PASSED: " + " External Inertial Force and Torque Inegrated Sim Test") assert testFailCount < 1, testMessages # return fail count and join into a single string all messages in the list # testMessage return [testFailCount, ''.join(testMessages)] if __name__ == "__main__": extForceBodyAndTorque()