test_mrpPDRust

Verify that mrpPDRust matches the established C mrpPD behavior.

test_mrpPDRust.test_mrp_pd_rust_matches_c_reference_cases(set_external_torque)

Run the existing mrpPD cases through both implementations.

Parameters:

set_external_torque – Include a nonzero known body torque when true.

test_mrpPDRust.test_mrp_pd_rust_rejects_invalid_configuration()

Reject invalid scalar and fixed-array assignments immediately.

test_mrpPDRust.test_mrp_pd_rust_rejects_invalid_inertia_message()

Validate inertia received through the vehicle-configuration message.