test_scalarJointStatesToRWSpeed

test_scalarJointStatesToRWSpeed.test_scalarJointStatesToRWSpeed(numJoints: int)[source]

Verification Test Description

This unit test verifies that the ScalarJointStatesToRWSpeed adapter module correctly maps a set of ScalarJointStateMsgPayload input messages into a single RWSpeedMsgPayload output message using an order-preserving mapping.

Test Parameters

Parameters:: numJoints (int) – Number of scalar joint input messages.

Description of Variables Being Tested

Each element of the output reaction wheel speed vector is checked to ensure that it matches the corresponding joint angular rate provided in the input messages.