test_inertialCartFeedback

test_inertialCartFeedback.computeTruthForce(mu, deputyMass, K, P, rDeputy, vDeputy, rDeputyRef, vDeputyRef, aDeputyRef)[source]

Compute expected inertial control force for the test case.

test_inertialCartFeedback.gravAccel(mu, r)[source]

Compute gravitational acceleration for the test case.

test_inertialCartFeedback.test_inertialCartFeedback(useMu, nonNaturalMotion, 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. nonNaturalMotion set to True (non-natural motion is included in control law)

  4. nonNaturalMotion set to False (non-natural motion is excluded from control law)

Description of Variables Being Tested

The following output quantity is tested: - forceOutMsg.forceRequestInertial