def test_controlling_orientation(self): ref = self.vessel.orbit.body.reference_frame root = self.parts.root port = self.parts.with_title('Clamp-O-Tron Docking Port')[0] # Check vessel direction is in direction of root part # and perpendicular to the docking port vessel_dir = self.vessel.direction(ref) root_dir = root.direction(ref) port_dir = port.direction(ref) self.assertAlmostEqual(vessel_dir, root_dir, places=2) self.assertAlmostEqual(0, dot(vessel_dir, port_dir), places=2) # Control from the docking port self.parts.controlling = port # Check vessel direction is now the direction of the docking port vessel_dir = self.vessel.direction(ref) self.assertAlmostEqual(0, dot(vessel_dir, root_dir), places=2) self.assertAlmostEqual(vessel_dir, port_dir, places=2) # Control from the root part self.parts.controlling = root # Check vessel direction is now the direction of the root part vessel_dir = self.vessel.direction(ref) self.assertAlmostEqual(vessel_dir, root_dir, places=2) self.assertAlmostEqual(0, dot(vessel_dir, port_dir), places=2)
def test_velocity(self): for body in self.space_center.bodies.values(): if body.orbit is None: continue # Check body velocity in body's reference frame v = body.velocity(body.reference_frame) self.assertAlmostEqual((0, 0, 0), v) # Check body velocity in parent body's non-rotating reference frame v = body.velocity(body.orbit.body.non_rotating_reference_frame) self.assertAlmostEqual(body.orbit.speed, norm(v), places=2) # Check body velocity in parent body's reference frame v = body.velocity(body.orbit.body.reference_frame) if body.orbit.inclination == 0: self.assertAlmostEqual(0, v[1]) else: self.assertNotAlmostEqual(0, v[1]) angular_velocity = body.orbit.body.angular_velocity( body.orbit.body.non_rotating_reference_frame) self.assertAlmostEqual(0, angular_velocity[0]) self.assertAlmostEqual(0, angular_velocity[2]) rotational_speed = dot((0, 1, 0), angular_velocity) position = list(body.position(body.orbit.body.reference_frame)) position[1] = 0 radius = norm(position) rotational_speed *= radius # TODO: large error self.assertAlmostEqual(abs(rotational_speed + body.orbit.speed), norm(v), delta=500)
def test_velocity(self): for body in self.space_center.bodies.values(): if body.orbit is None: continue # Check body velocity in body's reference frame v = body.velocity(body.reference_frame) self.assertAlmostEqual((0, 0, 0), v) # Check body velocity in parent body's non-rotating reference frame v = body.velocity(body.orbit.body.non_rotating_reference_frame) self.assertAlmostEqual(body.orbit.speed, norm(v), places=3) # Check body velocity in parent body's reference frame v = body.velocity(body.orbit.body.reference_frame) if body.orbit.inclination == 0: self.assertAlmostEqual(0, v[1]) else: self.assertNotAlmostEqual(0, v[1]) angular_velocity = body.orbit.body.angular_velocity( body.orbit.body.non_rotating_reference_frame) self.assertAlmostEqual(0, angular_velocity[0]) self.assertAlmostEqual(0, angular_velocity[2]) rotational_speed = dot((0, 1, 0), angular_velocity) position = list(body.position(body.orbit.body.reference_frame)) position[1] = 0 radius = norm(position) rotational_speed *= radius #TODO: large error self.assertAlmostEqual(abs(rotational_speed + body.orbit.speed), norm(v), delta=500)
def check_directions(self, flight): """ Check flight.direction against flight.heading and flight.pitch """ direction = vector(flight.direction) up_direction = (1, 0, 0) north_direction = (0, 1, 0) self.assertAlmostEqual(1, norm(direction)) # Check vessel direction vector agrees with pitch angle pitch = 90 - rad2deg(math.acos(dot(up_direction, direction))) self.assertAlmostEqual(pitch, flight.pitch, delta=2) # Check vessel direction vector agrees with heading angle up_component = dot(direction, up_direction) * vector(up_direction) north_component = normalize(vector(direction) - up_component) self.assertDegreesAlmostEqual( rad2deg(math.acos(dot(north_component, north_direction))), flight.heading, delta=1)
def check_speeds(self, flight): """ Check flight.velocity agrees with flight.*_speed """ up_direction = (0, 1, 0) velocity = vector(flight.velocity) vertical_speed = dot(velocity, up_direction) horizontal_speed = norm(velocity) - vertical_speed self.assertAlmostEqual(norm(velocity), flight.speed, delta=1) self.assertAlmostEqual(horizontal_speed, flight.horizontal_speed, delta=1) self.assertAlmostEqual(vertical_speed, flight.vertical_speed, delta=1)
def check_orbital_vectors(self, flight): """ Check orbital direction vectors """ prograde = vector(flight.prograde) retrograde = vector(flight.retrograde) normal = vector(flight.normal) anti_normal = vector(flight.anti_normal) radial = vector(flight.radial) anti_radial = vector(flight.anti_radial) self.assertAlmostEqual(1, norm(prograde)) self.assertAlmostEqual(1, norm(retrograde)) self.assertAlmostEqual(1, norm(normal)) self.assertAlmostEqual(1, norm(anti_normal)) self.assertAlmostEqual(1, norm(radial)) self.assertAlmostEqual(1, norm(anti_radial)) self.assertAlmostEqual(tuple(prograde), [-x for x in retrograde], places=2) self.assertAlmostEqual(tuple(radial), [-x for x in anti_radial], places=2) self.assertAlmostEqual(tuple(normal), [-x for x in anti_normal], places=2) self.assertAlmostEqual(0, dot(prograde, radial), places=2) self.assertAlmostEqual(0, dot(prograde, normal), places=2) self.assertAlmostEqual(0, dot(radial, normal), places=2)
def check_speed(self, flight, ref): up = normalize(vector(self.vessel.position(ref)) - vector(self.vessel.orbit.body.position(ref))) v = self.vessel.velocity(ref) speed = norm(v) vertical_speed = dot(v, up) horizontal_speed = math.sqrt(speed*speed - vertical_speed*vertical_speed) self.assertAlmostEqual(speed, flight.speed, delta=0.5) self.assertAlmostEqual(vertical_speed, flight.vertical_speed, delta=0.5) self.assertAlmostEqual(horizontal_speed, flight.horizontal_speed, delta=0.5)
def check_orbital_vectors(self, flight): """ Check orbital direction vectors """ prograde = vector(flight.prograde) retrograde = vector(flight.retrograde) normal = vector(flight.normal) anti_normal = vector(flight.anti_normal) radial = vector(flight.radial) anti_radial = vector(flight.anti_radial) self.assertAlmostEqual(1, norm(prograde)) self.assertAlmostEqual(1, norm(retrograde)) self.assertAlmostEqual(1, norm(normal)) self.assertAlmostEqual(1, norm(anti_normal)) self.assertAlmostEqual(1, norm(radial)) self.assertAlmostEqual(1, norm(anti_radial)) self.assertAlmostEqual( tuple(prograde), [-x for x in retrograde], places=2) self.assertAlmostEqual( tuple(radial), [-x for x in anti_radial], places=2) self.assertAlmostEqual( tuple(normal), [-x for x in anti_normal], places=2) self.assertAlmostEqual(0, dot(prograde, radial), places=2) self.assertAlmostEqual(0, dot(prograde, normal), places=2) self.assertAlmostEqual(0, dot(radial, normal), places=2)
def check_speed(self, flight, ref): up = normalize(vector(self.vessel.position(ref)) - vector(self.vessel.orbit.body.position(ref))) v = self.vessel.velocity(ref) speed = norm(v) vertical_speed = dot(v, up) horizontal_speed = math.sqrt( speed*speed - vertical_speed*vertical_speed) self.assertAlmostEqual(speed, flight.speed, delta=0.5) self.assertAlmostEqual(vertical_speed, flight.vertical_speed, delta=0.5) self.assertAlmostEqual(horizontal_speed, flight.horizontal_speed, delta=0.5)
def check_object_surface_velocity(self, obj, ref): if obj.orbit is not None: # Check rotational component of velocity same as orbital speed v = self.space_center.transform_velocity((0, 0, 0), (0, 0, 0), ref, obj.orbit.body.reference_frame) #if obj.orbit.inclination == 0: # self.assertAlmostEqual(0, v[1]) #else: # self.assertNotAlmostEqual(0, v[1]) angular_velocity = obj.orbit.body.angular_velocity( obj.orbit.body.non_rotating_reference_frame) self.assertAlmostEqual(0, angular_velocity[0]) self.assertAlmostEqual(0, angular_velocity[2]) rotational_speed = dot((0, 1, 0), angular_velocity) position = list(obj.position(obj.orbit.body.reference_frame)) position[1] = 0 radius = norm(position) rotational_speed *= radius #TODO: large error self.assertAlmostEqual(abs(rotational_speed + obj.orbit.speed), norm(v), delta=200)
def check_object_surface_velocity(self, obj, ref): if obj.orbit is not None: # Check rotational component of velocity same as orbital speed v = self.space_center.transform_velocity( (0, 0, 0), (0, 0, 0), ref, obj.orbit.body.reference_frame) # if obj.orbit.inclination == 0: # self.assertAlmostEqual(0, v[1]) # else: # self.assertNotAlmostEqual(0, v[1]) angular_velocity = obj.orbit.body.angular_velocity( obj.orbit.body.non_rotating_reference_frame) self.assertAlmostEqual(0, angular_velocity[0]) self.assertAlmostEqual(0, angular_velocity[2]) rotational_speed = dot((0, 1, 0), angular_velocity) position = list(obj.position(obj.orbit.body.reference_frame)) position[1] = 0 radius = norm(position) rotational_speed *= radius # TODO: large error self.assertAlmostEqual(abs(rotational_speed + obj.orbit.speed), norm(v), delta=200)
def test_dot(self): self.assertAlmostEqual(0, dot((1, 0, 0), (0, 1, 0))) self.assertAlmostEqual(1, dot((1, 0, 0), (1, 0, 0)))