Source code for test_bore_ang_calc_inertial_heading

# ISC License
#
# Copyright (c) 2023, 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.


#
# Bore Angle Calculation Test
#
# Purpose:  Test the proper function of the Bore Angle Calculation module using the inertial heading option.
#
# Author:   João Vaz Carneiro
# Creation Date:  Jan. 12, 2023
#
import math
import os

import numpy as np
import pytest
from Basilisk.architecture import messaging
from Basilisk.simulation import boreAngCalc
from Basilisk.utilities import SimulationBaseClass, macros as mc, RigidBodyKinematics as rbk, unitTestSupport

path = os.path.dirname(os.path.abspath(__file__))


# The following 'parametrize' function decorator provides the parameters and expected results for each
#   of the multiple test runs for this test.
[docs] @pytest.mark.parametrize("inertialHeading, eulerLoc", [([1.0, 0.0, 0.0], [0.0, 0.0, 0.0]), ([0.0, 1.0, 0.0], [0.0, 0.0, 0.0]), ([0.0, 0.0, 1.0], [0.0, 0.0, 0.0]), ([1.0, 0.0, 0.0], [np.pi / 4, 0.0, - np.pi / 4]), ([0.0, 1.0, 0.0], [np.pi / 4, 0.0, - np.pi / 4]), ([0.0, 0.0, 1.0], [np.pi / 4, 0.0, - np.pi / 4]), ([1 / np.sqrt(2), - 1 / np.sqrt(2), 0.0], [np.pi / 4, 0.0, - np.pi / 4]), ([0.0, 1 / np.sqrt(2), 1 / np.sqrt(2)], [np.pi / 4, 0.0, - np.pi / 4]), ([1 / np.sqrt(2), 0.0, - 1 / np.sqrt(2)], [np.pi / 4, 0.0, - np.pi / 4])]) def test_bore_ang_calc_inertial_heading(show_plots, inertialHeading, eulerLoc): """Module Unit Test""" # each test method requires a single assert method to be called [testResults, testMessage] = bore_ang_calc_inertial_heading_func(show_plots, inertialHeading, eulerLoc) assert testResults < 1, testMessage
# Run unit test def bore_ang_calc_inertial_heading_func(show_plots, inertialHeading, eulerLoc): testFailCount = 0 # zero unit test result counter testMessages = [] # create empty array to store test log messages # Assign task and process names unitTaskName = "unitTask" # arbitrary name (don't change) unitProcessName = "unitProcess" # arbitrary name (don't change) # Create the sim module, process and task TotalSim = SimulationBaseClass.SimBaseClass() UnitTestProc = TotalSim.CreateNewProcess(unitProcessName) UnitTestProc.addTask(TotalSim.CreateNewTask(unitTaskName, mc.sec2nano(1.0))) # Create the state message and populate it stateMessage = messaging.SCStatesMsgPayload() stateMessage.sigma_BN = rbk.euler3212MRP(eulerLoc) scMsg = messaging.SCStatesMsg().write(stateMessage) # Initialize the bac module BACObject = boreAngCalc.BoreAngCalc() BACObject.ModelTag = "solarArrayBoresight" boreVec_B = [1.0, 0.0, 0.0] BACObject.boreVec_B = boreVec_B # boresight in body frame BACObject.scStateInMsg.subscribeTo(scMsg) BACObject.inertialHeadingVec_N = inertialHeading TotalSim.AddModelToTask(unitTaskName, BACObject) # Configure the recorder dataLog = BACObject.angOutMsg.recorder() TotalSim.AddModelToTask(unitTaskName, dataLog) # Execute simulation TotalSim.InitializeSimulation() TotalSim.TotalSim.SingleStepProcesses() # Configure the tests # Compute the inertial heading in B frame dcm_BN = rbk.MRP2C(stateMessage.sigma_BN) inertialHeading_B = dcm_BN.dot(np.array(inertialHeading)) # Compute the miss angle missAngle = math.acos(np.array(boreVec_B).dot(inertialHeading_B)) # Extract the miss angle from data simMissAngle = dataLog.missAngle[0] # Compare the results tol = 1E-10 if not unitTestSupport.isDoubleEqual(missAngle, simMissAngle, tol): testFailCount += 1 testMessages.append("FAILED: Calculating the miss angle of the boresight failed \n") # print out success message if no error were found if testFailCount == 0: print("PASSED") else: print(testMessages) return [testFailCount, ''.join(testMessages)] # This statement below ensures that the unit test scrip can be run as a # stand-along python script # if __name__ == "__main__": test_bore_ang_calc_inertial_heading(False, # show_plots [1.0 / np.sqrt(3), 1.0 / np.sqrt(3), 1.0 / np.sqrt(3)], [np.pi, 0.0, 0.0])