test_jointThrAllocation

test_jointThrAllocation.test_allocation_configuration_helpers()

Validation Test Description

This unit test verifies that jointThrAllocation.JointThrAllocation can be constructed from the standard Basilisk.fswAlgorithms import path and that the helper methods resolve scalar and vector configuration values.

Description of Variables Being Tested

This unit test checks the resolved thrust force bounds, thrust weights, and initial decision vector shape.

test_jointThrAllocation.test_map_matrix()

Validation Test Description

This unit test verifies that jointThrAllocation.mapMatrix() maps thruster force magnitudes into the expected stacked force and torque wrench.

Description of Variables Being Tested

This unit test checks the force block and torque block of the returned wrench mapping matrix.

test_jointThrAllocation.test_reset_rejects_missing_input_message(missing_msg_name)

Validation Test Description

This unit test verifies that jointThrAllocation.JointThrAllocation rejects reset calls when any required input message is not connected.

Description of Variables Being Tested

This unit test checks each required input message reader.

test_jointThrAllocation.test_spacecraft_layout(theta)

Validation Test Description

This unit test verifies that jointThrAllocation.jointPoseFromTheta() computes the correct joint frame poses and vectors for a given set of joint angles. It also verifies that jointThrAllocation.computeComFromTheta() computes the correct center of mass vector for a given set of joint angles.

Description of Variables Being Tested

This unit test checks the DCM and position vectors for each joint. It also checks the computed center of mass vector.

test_jointThrAllocation.test_spacecraft_layout_asymmetric_body_masses_shift_com()

Validation Test Description

This unit test verifies that jointThrAllocation.computeComFromTheta() responds correctly to asymmetric arm-body masses by shifting the system center of mass toward the heavier side.

Description of Variables Being Tested

This unit test checks the computed center-of-mass vector for an asymmetric set of arm-body masses.

test_jointThrAllocation.test_spacecraft_layout_includes_hub_com_offset()

Validation Test Description

This unit test verifies that jointThrAllocation.computeComFromTheta() includes the hub center-of-mass offset contribution when computing the system center of mass.

Description of Variables Being Tested

This unit test checks the computed center-of-mass vector for a nonzero hub center-of-mass offset.