# ISC License
#
# Copyright (c) 2026, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
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# Unit Test Script
# Module Name: hingedRigidBodyStateEffector
# Author: robotrocketscience (https://github.com/robotrocketscience)
# Creation Date: July 4, 2026
#
"""
Regression test for issue #469: the constructor used to call
``this->IPntS_S.Identity()`` and ``this->dcm_HB.Identity()`` as statements.
``Eigen::Matrix3d::Identity()`` is a static factory whose return value was
discarded, so the members were left uninitialized instead of defaulting to
identity. This test asserts a freshly constructed effector exposes identity
defaults for both members.
"""
import numpy as np
from Basilisk.simulation import hingedRigidBodyStateEffector
[docs]
def test_defaultDcmAndInertiaAreIdentity():
"""A fresh effector must default dcm_HB and IPntS_S to identity."""
effector = hingedRigidBodyStateEffector.HingedRigidBodyStateEffector()
np.testing.assert_allclose(np.asarray(effector.dcm_HB, dtype=float), np.eye(3),
err_msg="default dcm_HB is not identity")
np.testing.assert_allclose(np.asarray(effector.IPntS_S, dtype=float), np.eye(3),
err_msg="default IPntS_S is not identity")
if __name__ == "__main__":
test_defaultDcmAndInertiaAreIdentity()