Source code for test_formationBarycenter
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import copy
import numpy as np
import pytest
from Basilisk.architecture import messaging
from Basilisk.fswAlgorithms import formationBarycenter
from Basilisk.utilities import SimulationBaseClass, unitTestSupport, macros, astroFunctions, orbitalMotion
[docs]@pytest.mark.parametrize("accuracy", [1e-8])
def test_formationBarycenter(show_plots, accuracy):
r"""
**Validation Test Description**
This unit test verifies the formationBarycenter module. It checks the barycenter of three spacecraft using both
cartesian coordinates and orbital elements weighted averaging.
**Test Parameters**
The test parameters used are the following:
Args:
accuracy (float): absolute accuracy value used in the validation tests
**Description of Variables Being Tested**
In this file we are checking the values of the variables
- ``barycenter``
- ``barycenterVelocity``
- ``barycenterC``
- ``barycenterVelocityC``
which represent the center of mass position and velocity vectors. The variables ending in ``C`` are pulled from the
C-wrapped navigation output message, whereas the other two come from the usual C++ message. All these variables are
compared to ``trueBarycenter`` and ``trueBarycenterVelocity``, which contain their true values.
As stated, both the C and C++ wrapped message outputs are checked.
"""
[testResults, testMessage] = formationBarycenterTestFunction(show_plots, accuracy)
assert testResults < 1, testMessage
[docs]def formationBarycenterTestFunction(show_plots, accuracy):
"""Test method"""
testFailCount = 0
testMessages = []
unitTaskName = "unitTask"
unitProcessName = "TestProcess"
unitTestSim = SimulationBaseClass.SimBaseClass()
testProcessRate = macros.sec2nano(1.)
testProc = unitTestSim.CreateNewProcess(unitProcessName)
testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate))
# setup module to be tested
barycenterModule = formationBarycenter.FormationBarycenter()
barycenterModule.ModelTag = "barycenterModuleTag"
unitTestSim.AddModelToTask(unitTaskName, barycenterModule)
# Configure each spacecraft's position and velocity
mu = astroFunctions.mu_E
oe1 = orbitalMotion.ClassicElements()
oe1.a = 1.1 * astroFunctions.E_radius # meters
oe1.e = 0.01
oe1.i = 45.0 * macros.D2R
oe1.Omega = 48.2 * macros.D2R
oe1.omega = 347.8 * macros.D2R
oe1.f = 85.3 * macros.D2R
rN1, vN1 = orbitalMotion.elem2rv(mu, oe1)
oe2 = copy.deepcopy(oe1)
oe2.e = 1.05 * oe1.e
oe2.i = 1.05 * oe1.i
oe2.f = 1.05 * oe1.f
rN2, vN2 = orbitalMotion.elem2rv(mu, oe2)
oe3 = copy.deepcopy(oe1)
oe3.e = 0.95 * oe1.e
oe3.i = 0.90 * oe1.i
oe3.f = 1.10 * oe1.f
rN3, vN3 = orbitalMotion.elem2rv(mu, oe3)
# Configure spacecraft state input messages
scNavMsgData1 = messaging.NavTransMsgPayload()
scNavMsgData1.r_BN_N = rN1
scNavMsgData1.v_BN_N = vN1
scNavMsg1 = messaging.NavTransMsg().write(scNavMsgData1)
scNavMsgData2 = messaging.NavTransMsgPayload()
scNavMsgData2.r_BN_N = rN2
scNavMsgData2.v_BN_N = vN2
scNavMsg2 = messaging.NavTransMsg().write(scNavMsgData2)
scNavMsgData3 = messaging.NavTransMsgPayload()
scNavMsgData3.r_BN_N = rN3
scNavMsgData3.v_BN_N = vN3
scNavMsg3 = messaging.NavTransMsg().write(scNavMsgData3)
# Configure spacecraft mass input messages
scPayloadMsgData1 = messaging.VehicleConfigMsgPayload()
scPayloadMsgData1.massSC = 100
scPayloadMsg1 = messaging.VehicleConfigMsg().write(scPayloadMsgData1)
scPayloadMsgData2 = messaging.VehicleConfigMsgPayload()
scPayloadMsgData2.massSC = 150
scPayloadMsg2 = messaging.VehicleConfigMsg().write(scPayloadMsgData2)
scPayloadMsgData3 = messaging.VehicleConfigMsgPayload()
scPayloadMsgData3.massSC = 250
scPayloadMsg3 = messaging.VehicleConfigMsg().write(scPayloadMsgData3)
# add spacecraft input messages to module
barycenterModule.addSpacecraftToModel(scNavMsg1, scPayloadMsg1)
barycenterModule.addSpacecraftToModel(scNavMsg2, scPayloadMsg2)
barycenterModule.addSpacecraftToModel(scNavMsg3, scPayloadMsg3)
# setup output message recorder objects
barycenterOutMsg = barycenterModule.transOutMsg.recorder()
barycenterOutMsgC = barycenterModule.transOutMsgC.recorder()
unitTestSim.AddModelToTask(unitTaskName, barycenterOutMsg)
unitTestSim.AddModelToTask(unitTaskName, barycenterOutMsgC)
unitTestSim.InitializeSimulation()
unitTestSim.TotalSim.SingleStepProcesses()
barycenterModule.useOrbitalElements = True
barycenterModule.mu = mu
unitTestSim.TotalSim.SingleStepProcesses()
# Pull module data
barycenter = barycenterOutMsg.r_BN_N
barycenterVelocity = barycenterOutMsg.v_BN_N
barycenterC = barycenterOutMsgC.r_BN_N
barycenterVelocityC = barycenterOutMsgC.v_BN_N
elements = orbitalMotion.rv2elem(mu, barycenter[1], barycenterVelocity[1])
elementsArray = [elements.a, elements.e, elements.i, elements.Omega, elements.omega, elements.f]
elementsC = orbitalMotion.rv2elem(mu, barycenterC[1], barycenterVelocityC[1])
elementsArrayC = [elementsC.a, elementsC.e, elementsC.i, elementsC.Omega, elementsC.omega, elementsC.f]
# Set the true values
trueBarycenter = np.array([-2795.61091086, 4349.07305245, 4711.56751498])
trueBarycenterVelocity = np.array([-5.73871824, -4.74464078, 1.07961505])
trueElements = [7015.94993, 0.0099, 0.7579092276785376, 0.8412486994612671, 6.07025513843626, 1.5855546253383273]
# Verify the data
if not unitTestSupport.isArrayEqual(barycenter[0], trueBarycenter, 3, accuracy) or \
not unitTestSupport.isArrayEqual(barycenterVelocity[0], trueBarycenterVelocity, 3, accuracy):
testFailCount += 1
testMessages.append("FAILED: formationBarycenter cartesian unit test.")
if not unitTestSupport.isArrayEqual(elementsArray, trueElements, 6, accuracy):
testFailCount += 1
testMessages.append("FAILED: formationBarycenter orbital element unit test.")
if not unitTestSupport.isArrayEqual(barycenterC[0], trueBarycenter, 3, accuracy) or \
not unitTestSupport.isArrayEqual(barycenterVelocityC[0], trueBarycenterVelocity, 3, accuracy):
testFailCount += 1
testMessages.append("FAILED: formationBarycenter C message cartesian unit test.")
if not unitTestSupport.isArrayEqual(elementsArrayC, trueElements, 6, accuracy):
testFailCount += 1
testMessages.append("FAILED: formationBarycenter C message orbital element unit test.")
if testFailCount == 0:
print("PASSED: formationBarycenter unit test.")
else:
print(testMessages)
return [testFailCount, "".join(testMessages)]
if __name__ == "__main__":
test_formationBarycenter(
False, # show_plots
1e-8 # accuracy
)