#
# ISC License
#
# Copyright (c) 2026, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
#
# Permission to use, copy, modify, and/or distribute this software for any
# purpose with or without fee is hereby granted, provided that the above
# copyright notice and this permission notice appear in all copies.
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# THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
# WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
# MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
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# ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
# OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
import pytest
import numpy as np
import numpy.testing as npt
from Basilisk.utilities import SimulationBaseClass
from Basilisk.simulation import svIntegrators
from Basilisk.architecture import messaging
from Basilisk.utilities import macros
from Basilisk import hasBuildFeature
mujocoEnabled = hasBuildFeature("mujoco")
pytestmark = pytest.mark.skipif(
not mujocoEnabled,
reason="Requires Basilisk built with --mujoco True",
)
if mujocoEnabled:
from Basilisk.simulation import mujoco
from Basilisk.simulation import MJStochasticDragCoeff
[docs]
def test_stochasticDragCoeff(showPlots: bool = False):
"""
Unit test for StochasticDragCoeff.
Verifies that the output drag coefficient follows OU statistics: mean, variance,
and correlation time match theoretical predictions for a constant nominal input.
"""
dt = .002 # [s]
tf = 100 # [s]
nominalDragCoeff = 2.2
sigmaStationary = 0.4
timeConstant = 0.1 # [s]
scSim = SimulationBaseClass.SimBaseClass()
dynProcess = scSim.CreateNewProcess("test")
dynProcess.addTask(scSim.CreateNewTask("test", macros.sec2nano(dt)))
scene = mujoco.MJScene("<mujoco/>")
scSim.AddModelToTask("test", scene)
integratorObject = svIntegrators.svStochasticIntegratorMayurama(scene)
integratorObject.setRNGSeed(0)
scene.setIntegrator(integratorObject)
nominalPayload = messaging.DragGeometryMsgPayload()
nominalPayload.dragCoeff = nominalDragCoeff
nominalMsg = messaging.DragGeometryMsg().write(nominalPayload)
dragModule = MJStochasticDragCoeff.StochasticDragCoeff()
dragModule.setStationaryStd(sigmaStationary)
dragModule.setTimeConstant(timeConstant)
dragModule.dragGeomInMsg.subscribeTo(nominalMsg)
scene.AddModelToDynamicsTask(dragModule)
recorder = dragModule.dragGeomOutMsg.recorder()
scSim.AddModelToTask("test", recorder)
scSim.InitializeSimulation()
assert dragModule.getTimeConstant() == timeConstant
assert dragModule.getStationaryStd() == sigmaStationary
scSim.ConfigureStopTime(macros.sec2nano(tf))
scSim.ExecuteSimulation()
cd = np.asarray(recorder.dragCoeff)
meanTarget = nominalDragCoeff
varTarget = (nominalDragCoeff * sigmaStationary) ** 2
phiTarget = np.exp(-dt / timeConstant)
meanEst = float(np.mean(cd))
varEst = float(np.var(cd, ddof=1))
yc0 = cd[:-1] - meanEst
yc1 = cd[1:] - meanEst
phiEst = float(np.dot(yc0, yc1) / np.dot(yc0, yc0))
phiClamped = min(max(phiEst, 1e-6), 0.999999)
timeConstantEst = -dt / np.log(phiClamped)
print(f"mean={meanEst:.3f} var={varEst:.3f} tau_hat={timeConstantEst:.3f}")
npt.assert_allclose(meanEst, meanTarget, atol=0.2 * nominalDragCoeff)
npt.assert_allclose(varEst, varTarget, rtol=0.3)
npt.assert_allclose(phiEst, phiTarget, rtol=0.03, atol=0.003)
npt.assert_allclose(timeConstantEst, timeConstant, rtol=0.05, atol=0.1)
if __name__ == "__main__":
if not mujocoEnabled:
raise RuntimeError("Requires Basilisk built with --mujoco True")
test_stochasticDragCoeff(True)