Source code for test_extForceTorqueIntegrated

''' '''
'''
 ISC License

 Copyright (c) 2016, Autonomous Vehicle Systems Lab, University of Colorado at Boulder

 Permission to use, copy, modify, and/or distribute this software for any
 purpose with or without fee is hereby granted, provided that the above
 copyright notice and this permission notice appear in all copies.

 THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
 WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
 MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
 ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
 WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
 ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
 OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.

'''
import sys, os, inspect
import numpy
import pytest
import math







from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import unitTestSupport  # general support file with common unit test functions
from Basilisk.simulation import spacecraftPlus
from Basilisk.utilities import macros
from Basilisk.simulation import gravityEffector
from Basilisk.simulation import extForceTorque

# 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_
def extForceBodyAndTorqueAllTest():
    [testResults, testMessage] = test_extForceBodyAndTorque()
    assert testResults < 1, testMessage
    [testResults, testMessage] = test_extForceInertialAndTorque()
    assert testResults < 1, testMessage

[docs]def test_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 = spacecraftPlus.SpacecraftPlus() 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.bodyInMsgName = "earth_planet_data" unitTestSim.earthGravBody.outputMsgName = "earth_display_frame_data" unitTestSim.earthGravBody.mu = 0.3986004415E+15 # meters! unitTestSim.earthGravBody.isCentralBody = True unitTestSim.earthGravBody.useSphericalHarmParams = False scObject.gravField.gravBodies = spacecraftPlus.GravBodyVector([unitTestSim.earthGravBody]) unitTestSim.TotalSim.logThisMessage(scObject.scStateOutMsgName, testProcessRate) # 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 = [[stopTime, dataPos[0][0], dataPos[1][0], dataPos[2][0]]] dataSigma = [[stopTime, 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 test_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 = spacecraftPlus.SpacecraftPlus() 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.bodyInMsgName = "earth_planet_data" unitTestSim.earthGravBody.outputMsgName = "earth_display_frame_data" unitTestSim.earthGravBody.mu = 0.3986004415E+15 # meters! unitTestSim.earthGravBody.isCentralBody = True unitTestSim.earthGravBody.useSphericalHarmParams = False scObject.gravField.gravBodies = spacecraftPlus.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 = [[stopTime, dataPos[0][0], dataPos[1][0], dataPos[2][0]]] dataSigma = [[stopTime, 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__": test_extForceBodyAndTorque()