# ISC License
#
# Copyright (c) 2026, 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.
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# 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
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# OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
#
# Unit Test Script
# Module Name: nHingedRigidBodyStateEffector
# Author: robotrocketscience (https://github.com/robotrocketscience)
# Creation Date: July 4, 2026
#
"""
Regression test for issue #469: the constructor used to call
``this->dcm_HB.Identity()`` as a statement. ``Eigen::Matrix3d::Identity()``
is a static factory whose return value was discarded, so the member was left
uninitialized instead of defaulting to identity. This test asserts a freshly
constructed effector exposes an identity default.
"""
import numpy as np
from Basilisk.simulation import nHingedRigidBodyStateEffector
[docs]
def test_defaultDcmIsIdentity():
"""A fresh effector must default dcm_HB to identity."""
effector = nHingedRigidBodyStateEffector.NHingedRigidBodyStateEffector()
np.testing.assert_allclose(np.asarray(effector.dcm_HB, dtype=float), np.eye(3),
err_msg="default dcm_HB is not identity")
if __name__ == "__main__":
test_defaultDcmIsIdentity()