test_inertialCartFeedback

test_inertialCartFeedback.computeTruthForce(mu, deputyMass, K, P, rDeputy, vDeputy, rDeputyDes, vDeputyDes, forceFF)[source]

Compute expected inertial control force for the test case.

test_inertialCartFeedback.test_inertialCartFeedback(useMu, useFeedForward, accuracy)[source]

Validation Test Description

This unit test validates Module: inertialCartFeedback by checking the inertial force output against a Python truth model for:

  1. mu > 0 (gravity compensation active)

  2. mu <= 0 (gravity compensation skipped)

  3. forceFeedforwardInMsg connected (feedforward included in control law)

  4. forceFeedforwardInMsg not connected (feedforward excluded from control law)

Description of Variables Being Tested

The following output quantity is tested: - forceOutMsg.forceRequestInertial