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# ISC License
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# Copyright (c) 2016, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
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import pytest
from Basilisk.architecture import messaging
from Basilisk.simulation import planetHeading
from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import orbitalMotion as om
[docs]def test_planetHeading(show_plots=False, relTol=1e-8):
"""
**Test Description**
Test that a planet heading is properly calculated from a spacecraft and planet position and spacecraft attitude.
To test this, the earth is placed at the inertial origin. A spacecraft with inertial attitude is placed
at 1AU in the z-direction. The heading is checked to be [0, 0, -1].
These values were chosen arbitrarily. They are checked to be accurate to within a relative tolerance of the
input ``relTol``, 1e-8 by default.
Args:
relTol (float): positive, the relative tolerance to which the result is checked.
**Variables Being Tested**
This test checks that ``headingOut`` stores the pulled log of the module ``bodyHeadingOutMsg``.
"""
sim = SimulationBaseClass.SimBaseClass()
proc = sim.CreateNewProcess("proc")
task = sim.CreateNewTask("task", int(1e9))
proc.addTask(task)
earthPositionMessage = messaging.SpicePlanetStateMsgPayload()
earthPositionMessage.PositionVector = [0., 0., 0.]
plMsg = messaging.SpicePlanetStateMsg().write(earthPositionMessage)
scPositionMessage = messaging.SCStatesMsgPayload()
scPositionMessage.r_BN_N = [0., 0., om.AU*1000]
scMsg = messaging.SCStatesMsg().write(scPositionMessage)
ph = planetHeading.PlanetHeading()
ph.ModelTag = "planetHeading"
sim.AddModelToTask(task.Name, ph)
ph.planetPositionInMsg.subscribeTo(plMsg)
ph.spacecraftStateInMsg.subscribeTo(scMsg)
dataLog = ph.planetHeadingOutMsg.recorder()
sim.AddModelToTask(task.Name, dataLog)
sim.InitializeSimulation()
sim.TotalSim.SingleStepProcesses()
headingOut = dataLog.rHat_XB_B[-1]
assert headingOut == pytest.approx([0., 0., -1.], rel=relTol)
if __name__ == "__main__":
test_planetHeading()