test_jointArrayRefProfiler

test_jointArrayRefProfiler.setup_joint_array_ref_profiler(profile_type: str)

Create a jointArrayRefProfiler module with three joint inputs.

test_jointArrayRefProfiler.test_joint_array_ref_profiler_cubic()

Validation Test Description

This unit test verifies that jointArrayRefProfiler.JointArrayRefProfiler can be constructed from the standard Basilisk.simulation import path and that the cubic profile mode works correctly.

Description of Variables Being Tested

This unit test checks the outputs of desJointStatesOutMsg when using the cubic profile mode at the start of the profile, during the profile, and after the profile completes. It also verifies that multi-turn joint angles remain unwrapped when joint-angle wrapping retains its default disabled state.

test_jointArrayRefProfiler.test_joint_array_ref_profiler_cubic_joint_angle_wrap_range()

Validation Test Description

This unit test verifies that the cubic profile mode wraps multi-turn current and desired joint angles when a joint-angle wrapping range is configured.

Description of Variables Being Tested

This unit test checks the cubic-profile outputs at the start, midway through, and after a profile whose input angles differ from their canonical equivalents by integer multiples of 2*pi. It also verifies that the configured interval can start at zero and that wrapping can be disabled.

test_jointArrayRefProfiler.test_joint_array_ref_profiler_cubic_shortest_path()

Validation Test Description

This unit test verifies that enabling useShortestPath makes a cubic profile cross the +-pi boundary along the shorter angular path.

Description of Variables Being Tested

This unit test compares cubic profiles for the same boundary-crossing commands with useShortestPath disabled and enabled. The default profile takes the long route, while the enabled profile takes the short route.

test_jointArrayRefProfiler.test_joint_array_ref_profiler_filter()

Validation Test Description

This unit test verifies that jointArrayRefProfiler.JointArrayRefProfiler can be constructed from the standard Basilisk.simulation import path and that the low pass filter mode works correctly.

Description of Variables Being Tested

This unit test checks the outputs of desJointStatesOutMsg when using the low pass filter mode.

test_jointArrayRefProfiler.test_joint_array_ref_profiler_filter_reinitializes_on_new_command()

Validation Test Description

This unit test verifies that jointArrayRefProfiler.JointArrayRefProfiler can be constructed from the standard Basilisk.simulation import path and that the low pass filter mode reinitializes correctly when a new desired joint state message is written after the filter has already stepped once.

Description of Variables Being Tested

This unit test checks the outputs of desJointStatesOutMsg when using the low pass filter mode after a second desired joint state message is written. The expected behavior is that the module reinitializes the internal reference state to the current joint states instead of continuing from the previous filtered reference.

test_jointArrayRefProfiler.test_joint_array_ref_profiler_filter_wrap_shortest_path()

Validation Test Description

This unit test verifies that a low-pass profile converges across a configured wrapping boundary when useShortestPath is enabled.

Description of Variables Being Tested

This unit test checks the wrapped output angle and the continuous rate and acceleration recurrence for a target that crosses the upper boundary of the configured joint-angle wrapping interval.

test_jointArrayRefProfiler.test_joint_array_ref_profiler_linear()

Validation Test Description

This unit test verifies that jointArrayRefProfiler.JointArrayRefProfiler can be constructed from the standard Basilisk.simulation import path and that the linear profile mode works correctly.

Description of Variables Being Tested

This unit test checks the outputs of desJointStatesOutMsg when using the linear profile mode at the start of the profile, during the profile, and after the profile completes.

test_jointArrayRefProfiler.test_joint_array_ref_profiler_quintic()

Validation Test Description

This unit test verifies that jointArrayRefProfiler.JointArrayRefProfiler can be constructed from the standard Basilisk.simulation import path and that the quintic profile mode works correctly.

Description of Variables Being Tested

This unit test checks the outputs of desJointStatesOutMsg when using the quintic profile mode at the start of the profile, during the profile, and after the profile completes.

test_jointArrayRefProfiler.test_joint_array_ref_profiler_quintic_repeated_identical_writes()

Validation Test Description

This unit test verifies that jointArrayRefProfiler.JointArrayRefProfiler can be constructed from the standard Basilisk.simulation import path and that repeated writes of an identical desired joint state message do not restart the profile.

Description of Variables Being Tested

This unit test checks the outputs of desJointStatesOutMsg when using the quintic profile mode after an identical desired joint state message is rewritten at a later time. The expected behavior is that the profile continues based on accumulated profile time instead of resetting to the initial conditions.