#
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# Copyright (c) 2026, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
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import numpy as np
from Basilisk.architecture import messaging
from Basilisk.simulation import stateMerge
[docs]
def test_state_merge_output_payload():
"""
**Validation Test Description**
This unit test verifies that :class:`stateMerge.StateMerge` can be
constructed from the standard ``Basilisk.simulation`` import path and that
it merges attitude and translation spacecraft state inputs into one output
payload.
**Description of Variables Being Tested**
This unit test checks the merged ``sigma_BN``, ``omega_BN_B``, ``r_BN_N``,
and ``v_BN_N`` fields.
"""
module = stateMerge.StateMerge()
attPayload = messaging.SCStatesMsgPayload()
attPayload.sigma_BN = [0.1, -0.2, 0.3] # [rad]
attPayload.omega_BN_B = [0.01, -0.02, 0.03] # [rad/s]
transPayload = messaging.SCStatesMsgPayload()
transPayload.r_CN_N = [1.0, 2.0, 3.0] # [m]
transPayload.v_CN_N = [-0.1, 0.2, -0.3] # [m/s]
attMsg = messaging.SCStatesMsg().write(attPayload)
transMsg = messaging.SCStatesMsg().write(transPayload)
module.attStateInMsg.subscribeTo(attMsg)
module.transStateInMsg.subscribeTo(transMsg)
module.Reset(0)
module.UpdateState(1)
stateOut = module.stateOutMsg.read()
np.testing.assert_allclose(stateOut.sigma_BN, attPayload.sigma_BN)
np.testing.assert_allclose(stateOut.omega_BN_B, attPayload.omega_BN_B)
np.testing.assert_allclose(stateOut.r_BN_N, transPayload.r_CN_N)
np.testing.assert_allclose(stateOut.v_BN_N, transPayload.v_CN_N)