test_thrJointCompensation

test_thrJointCompensation.test_thrJointCompensation(nonActForces, maxTorque, numJoints, numArms, numSpacecraft)[source]

Validation Test Description

This unit test validates the motor torques found by the thrJointCompensation controller for spacecraft with attached jointed arms.

Test Parameters

The presence of non actuator based forces, presence of max torque limits, number of joints, number of arms, and number of spacecraft can be varied.

Parameters:

  • nonActForces (bool) – Flag to indicate presence of non-actuator forces

  • maxTorque (bool) – Flag to indicate presence of max torque limits

  • numJoints (int) – Number of joints in the arm

  • numArms (int) – Number of arms attached to the spacecraft

  • numSpacecraft (int) – Number of spacecraft in the simulation

Description of Variables Being Tested

In this test the motor torques output by the module are compared to the expected torques calculated in python.