Source code for test_ephemconvert


# ISC License
#
# Copyright (c) 2016, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
#
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#
# Ephemeris Converter Unit Test
#
# Purpose:  Test the proper function of the ephemeris_converter module.
# Author:   Thibaud Teil
#

import numpy as np
from Basilisk import __path__
from Basilisk.simulation import ephemerisConverter
from Basilisk.simulation import spiceInterface
from Basilisk.utilities import RigidBodyKinematics
from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import macros
from Basilisk.utilities import unitTestSupport

bskPath = __path__[0]


# provide a unique test method name, starting with test_
[docs] def test_ephemConvert(show_plots): """Module Unit Test""" # each test method requires a single assert method to be called [testResults, testMessage] = unitephemeris_converter(show_plots) assert testResults < 1, testMessage
def unitephemeris_converter(show_plots): testFailCount = 0 # zero unit test result counter testMessages = [] # create empty array to store test log messages # Create a sim module as an empty container unitTaskName = "unitTask" # arbitrary name (don't change) unitProcessName = "TestProcess" # arbitrary name (don't change) # Create a sim module as an empty container sim = SimulationBaseClass.SimBaseClass() simulationTime = macros.sec2nano(30.) numDataPoints = 600 samplingTime = simulationTime // (numDataPoints-1) DynUnitTestProc = sim.CreateNewProcess(unitProcessName) # create the dynamics task and specify the integration update time DynUnitTestProc.addTask(sim.CreateNewTask(unitTaskName, samplingTime)) # List of planets tested planets = ["earth", "mars barycenter", "sun"] # Initialize the spice module spiceObject = spiceInterface.SpiceInterface() spiceObject.ModelTag = "SpiceInterfaceData" spiceObject.SPICEDataPath = bskPath + '/supportData/EphemerisData/' spiceObject.addPlanetNames(spiceInterface.StringVector(planets)) spiceObject.UTCCalInit = "2015 February 10, 00:00:00.0 TDB" sim.AddModelToTask(unitTaskName, spiceObject) # Initialize the ephemeris module ephemObject = ephemerisConverter.EphemerisConverter() ephemObject.ModelTag = 'EphemData' ephemObject.addSpiceInputMsg(spiceObject.planetStateOutMsgs[0]) # earth ephemObject.addSpiceInputMsg(spiceObject.planetStateOutMsgs[1]) # mars ephemObject.addSpiceInputMsg(spiceObject.planetStateOutMsgs[2]) # sun sim.AddModelToTask(unitTaskName, ephemObject) # Configure simulation sim.ConfigureStopTime(int(simulationTime)) dataSpiceLog = [] dataEphemLog = [] for i in range(0, len(planets)): dataSpiceLog.append(spiceObject.planetStateOutMsgs[i].recorder()) dataEphemLog.append(ephemObject.ephemOutMsgs[i].recorder()) sim.AddModelToTask(unitTaskName, dataSpiceLog[-1]) sim.AddModelToTask(unitTaskName, dataEphemLog[-1]) # Execute simulation sim.InitializeSimulation() sim.ExecuteSimulation() # Initialize sigma_BN and omega_BN_B spice message truth data sigma_BN = np.zeros((len(planets), numDataPoints, 3)) omega_BN_B = np.zeros((len(planets), numDataPoints, 3)) # Loop through planets and data points to compute sigma_BN and omega_BN_B for i in range(0, len(planets)): spicePlanetDCM_PN = dataSpiceLog[i].J20002Pfix spicePlanetDCM_PN_dot = dataSpiceLog[i].J20002Pfix_dot for j in range(0, numDataPoints): dcm_PN = spicePlanetDCM_PN[j,:] dcm_PN_dot = spicePlanetDCM_PN_dot[j,:] sigma_BN[i,j,0:3] = RigidBodyKinematics.C2MRP(dcm_PN) omega_BN_B_tilde = -np.matmul(dcm_PN_dot, dcm_PN.T) omega_BN_B[i,j,0] = omega_BN_B_tilde[2,1] omega_BN_B[i,j,1] = omega_BN_B_tilde[0,2] omega_BN_B[i,j,2] = omega_BN_B_tilde[1,0] # Get the position, velocities, attitude, attitude rate, and time for the message before and after the copy accuracy = 1e-12 for i in range(0, len(planets)): ephemPlanetPosData = dataEphemLog[i].r_BdyZero_N spicePlanetPosData = dataSpiceLog[i].PositionVector ephemPlanetVelData = dataEphemLog[i].v_BdyZero_N spicePlanetVelData = dataSpiceLog[i].VelocityVector ephemPlanetAttData = dataEphemLog[i].sigma_BN ephemePlanetAngVelData = dataEphemLog[i].omega_BN_B testFailCount, testMessages = unitTestSupport.compareArrayRelative(spicePlanetPosData[:,0:3], ephemPlanetPosData, accuracy, "Position", testFailCount, testMessages) testFailCount, testMessages = unitTestSupport.compareArrayRelative(spicePlanetVelData[:,0:3], ephemPlanetVelData, accuracy, "Velocity", testFailCount, testMessages) testFailCount, testMessages = unitTestSupport.compareArrayRelative(sigma_BN[i,:,:], ephemPlanetAttData, accuracy, "Attitude", testFailCount, testMessages) testFailCount, testMessages = unitTestSupport.compareArray(omega_BN_B[i,:], ephemePlanetAngVelData, accuracy, "Angular Velocity", testFailCount, testMessages) # print out success message if no error were found if testFailCount == 0: print(" \n PASSED ") else: print(testMessages) # each test method requires a single assert method to be called # this check below just makes sure no sub-test failures were found 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_ephemConvert(False)