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 test_transform_position_between_vessel_and_celestial_bodies(self):
p0 = self.sc.transform_position((0, 0, 0), self.ref_vessel, self.ref_kerbin)
p1 = self.sc.transform_position((0, 0, 0), self.ref_vessel, self.ref_sun)
p2 = self.sc.transform_position((0, 0, 0), self.ref_kerbin, self.ref_sun)
p3 = tuple(x-y for (x, y) in zip(p1, p2))
#TODO: sometimes there is a large difference?!?! but only sometimes...
self.assertAlmostEqual(norm(p0), norm(p3), delta=5000)
def test_transform_position_between_celestial_bodies(self):
pos = self.sc.transform_position(
(0, 0, 0), self.ref_kerbin, self.ref_mun)
self.assertAlmostEqual(norm(pos), self.mun.orbit.radius, places=3)
pos = self.sc.transform_position(
(0, 0, 0), self.ref_sun, self.ref_kerbin)
self.assertAlmostEqual(norm(pos), self.kerbin.orbit.radius, places=3)
def test_transform_position_between_celestial_bodies(self):
pos = self.sc.transform_position((0, 0, 0), self.ref_kerbin,
self.ref_mun)
self.assertAlmostEqual(norm(pos), self.mun.orbit.radius, places=3)
pos = self.sc.transform_position((0, 0, 0), self.ref_sun,
self.ref_kerbin)
self.assertAlmostEqual(norm(pos), self.kerbin.orbit.radius, places=3)
def test_transform_velocity_between_vessel_and_celestial_bodies(self):
v0 = self.sc.transform_velocity(
(0, 0, 0), (0, 0, 0), self.ref_vessel, self.ref_nr_kerbin)
v1 = self.sc.transform_velocity(
(0, 0, 0), (0, 0, 0), self.ref_vessel, self.ref_nr_sun)
v2 = self.sc.transform_velocity(
(0, 0, 0), (0, 0, 0), self.ref_nr_kerbin, self.ref_nr_sun)
v3 = tuple(x-y for (x, y) in zip(v1, v2))
self.assertAlmostEqual(norm(v0), norm(v3), places=3)
def test_transform_velocity_between_vessel_and_celestial_bodies(self):
v0 = self.sc.transform_velocity((0, 0, 0), (0, 0, 0), self.ref_vessel,
self.ref_nr_kerbin)
v1 = self.sc.transform_velocity((0, 0, 0), (0, 0, 0), self.ref_vessel,
self.ref_nr_sun)
v2 = self.sc.transform_velocity((0, 0, 0), (0, 0, 0),
self.ref_nr_kerbin, self.ref_nr_sun)
v3 = tuple(x - y for (x, y) in zip(v1, v2))
self.assertAlmostEqual(norm(v0), norm(v3), places=3)
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_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 test_transform_velocity_between_celestial_bodies(self):
v1 = self.sc.transform_velocity((0, 0, 0), (0, 0, 0), self.ref_nr_mun, self.ref_nr_kerbin)
v2 = self.sc.transform_velocity((0, 0, 0), (0, 0, 0), self.ref_nr_kerbin, self.ref_nr_mun)
self.assertAlmostEqual(self.mun.orbit.speed, norm(v1), places=3)
self.assertAlmostEqual(self.mun.orbit.speed, norm(v2), places=3)
self.assertAlmostEqual(v1, tuple(-x for x in v2), places=3)
v1 = self.sc.transform_velocity((0, 0, 0), (0, 0, 0), self.ref_nr_kerbin, self.ref_nr_sun)
v2 = self.sc.transform_velocity((0, 0, 0), (0, 0, 0), self.ref_nr_sun, self.ref_nr_kerbin)
self.assertAlmostEqual(self.kerbin.orbit.speed, norm(v1), places=3)
self.assertAlmostEqual(self.kerbin.orbit.speed, norm(v2), places=3)
self.assertAlmostEqual(v1, tuple(-x for x in v2), places=3)
def test_transform_velocity_with_rotational_velocity(self):
direction = 100000 + 600000
vel = self.sc.transform_velocity((direction, 0, 0), (0, 0, 0),
self.ref_kerbin, self.ref_nr_kerbin)
self.assertAlmostEqual(norm(vel),
direction * self.kerbin.rotational_speed,
places=3)
def check_object_velocity(self, obj, ref):
# Check velocity vectors are unchanged by converting between the same reference frame
self.assertAlmostEqual((1, 2, 3), self.space_center.transform_velocity((0, 0, 0), (1, 2, 3), ref, ref))
if obj.orbit is not None:
# Check velocity of reference frame is same as orbital speed
# in reference frame of body being orbited
v = self.space_center.transform_velocity((0, 0, 0), (0, 0, 0), ref,
obj.orbit.body.non_rotating_reference_frame)
self.assertAlmostEqual(norm(v), obj.orbit.speed, delta=0.5)
def check_radius_and_speed(self, obj, orbit):
# Compute position from orbital elements
pos = compute_position(obj, orbit.body.non_rotating_reference_frame)
# Compute radius from position
radius = norm(pos) * 1000000
self.assertAlmostEqual(radius, orbit.radius, delta=1)
# Compute speed from radius
speed = math.sqrt(orbit.body.gravitational_parameter
* ((2/radius)-(1/orbit.semi_major_axis)))
self.assertAlmostEqual(speed, orbit.speed, delta=1)
def test_angular_velocity(self):
for body in self.space_center.bodies.values():
# Check body's angular velocity relative to itself is zero
av = body.angular_velocity(body.reference_frame)
self.assertAlmostEqual((0, 0, 0), av)
# Check body's angular velocity relative to it's own non-rotating reference frame
av = body.angular_velocity(body.non_rotating_reference_frame)
self.assertAlmostEqual((0, -1, 0), normalize(av))
self.assertAlmostEqual(body.rotational_speed, norm(av))
def test_angular_velocity(self):
for body in self.space_center.bodies.values():
# Check body's angular velocity relative to itself is zero
av = body.angular_velocity(body.reference_frame)
self.assertAlmostEqual((0, 0, 0), av)
# Check body's angular velocity relative to it's own non-rotating reference frame
av = body.angular_velocity(body.non_rotating_reference_frame)
self.assertAlmostEqual((0, -1, 0), normalize(av))
self.assertAlmostEqual(body.rotational_speed, norm(av))
def check_radius_and_speed(self, obj, orbit):
# Compute position from orbital elements
pos = compute_position(obj, orbit.body.non_rotating_reference_frame)
# Compute radius from position
radius = norm(pos) * 1000000
self.assertAlmostEqual(radius, orbit.radius, delta=1)
# Compute speed from radius
speed = math.sqrt(orbit.body.gravitational_parameter *
((2 / radius) - (1 / orbit.semi_major_axis)))
self.assertAlmostEqual(speed, orbit.speed, delta=1)
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_velocity(self, obj, ref):
# Check velocity vectors are unchanged by converting between the same reference frame
self.assertAlmostEqual((1, 2, 3),
self.space_center.transform_velocity(
(0, 0, 0), (1, 2, 3), ref, ref))
if obj.orbit is not None:
# Check velocity of reference frame is same as orbital speed
# in reference frame of body being orbited
v = self.space_center.transform_velocity(
(0, 0, 0), (0, 0, 0), ref,
obj.orbit.body.non_rotating_reference_frame)
self.assertAlmostEqual(norm(v), obj.orbit.speed, delta=0.5)
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(self, node, delta_v):
self.assertAlmostEqual(delta_v[0], node.prograde, places=3)
self.assertAlmostEqual(delta_v[1], node.normal, places=3)
self.assertAlmostEqual(delta_v[2], node.radial, places=3)
self.assertAlmostEqual(norm(delta_v), node.delta_v, places=3)
self.assertAlmostEqual(norm(delta_v),
node.remaining_delta_v,
delta=0.2)
bv = node.burn_vector(node.reference_frame)
self.assertAlmostEqual(norm(delta_v), norm(bv), places=3)
self.assertAlmostEqual((0, 1, 0), normalize(bv), places=3)
orbital_bv = node.burn_vector(node.orbital_reference_frame)
self.assertAlmostEqual(norm(delta_v), norm(orbital_bv), places=3)
self.assertAlmostEqual((-delta_v[2], delta_v[0], delta_v[1]),
orbital_bv,
places=3)
direction = node.direction(node.reference_frame)
self.assertAlmostEqual((0, 1, 0), direction, places=3)
orbital_direction = node.direction(node.orbital_reference_frame)
self.assertAlmostEqual(normalize(
(-delta_v[2], delta_v[0], delta_v[1])),
orbital_direction,
places=3)
def check_object_position(self, obj, ref):
# Check (0, 0, 0) position is at object position
self.assertAlmostEqual((0, 0, 0), obj.position(ref))
# Check norm of object position is same as objects orbital radius
if obj.orbit is not None:
pos = obj.orbit.body.position(ref)
self.assertAlmostEqual(obj.orbit.radius, norm(pos), delta=20)
# Check position agrees with that calculated from bodies orbit
if obj.name in ('Kerbin', 'Mun', 'Minmus', 'Test'):
ref = obj.orbit.body.reference_frame
expected_pos = compute_position(obj, ref)
actual_pos = tuple(x / 1000000 for x in obj.position(ref))
self.assertAlmostEqual(expected_pos, actual_pos, delta=1)
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_position(self, obj, ref):
# Check (0, 0, 0) position is at object position
self.assertAlmostEqual((0, 0, 0), obj.position(ref))
# Check norm of object position is same as objects orbital radius
if obj.orbit is not None:
pos = obj.orbit.body.position(ref)
self.assertAlmostEqual(obj.orbit.radius, norm(pos), delta=20)
# Check position agrees with that calculated from bodies orbit
if obj.name in ('Kerbin', 'Mun', 'Minmus', 'Test'):
ref = obj.orbit.body.reference_frame
expected_pos = compute_position(obj, ref)
actual_pos = tuple(x / 1000000 for x in obj.position(ref))
self.assertAlmostEqual(expected_pos, actual_pos, delta=1)
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 test_position(self):
for body in self.space_center.bodies.values():
# Check body position in body's reference frame
pos = body.position(body.reference_frame)
self.assertAlmostEqual((0, 0, 0), pos)
# Check body position in parent body's reference frame
if body.orbit is not None:
pos = body.position(body.orbit.body.reference_frame)
if body.orbit.inclination == 0:
self.assertAlmostEqual(0, pos[1])
else:
self.assertNotAlmostEqual(0, pos[1])
# TODO: large error
self.assertAlmostEqual(body.orbit.radius, norm(pos), delta=100)
def test_position(self):
for body in self.space_center.bodies.values():
# Check body position in body's reference frame
pos = body.position(body.reference_frame)
self.assertAlmostEqual((0, 0, 0), pos)
# Check body position in parent body's reference frame
if body.orbit is not None:
pos = body.position(body.orbit.body.reference_frame)
if body.orbit.inclination == 0:
self.assertAlmostEqual(0, pos[1])
else:
self.assertNotAlmostEqual(0, pos[1])
#TODO: large error
self.assertAlmostEqual(body.orbit.radius, norm(pos), delta=100)
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 test_flight_orbit_body_non_rotating_reference_frame(self):
ref = self.vessel.orbit.body.non_rotating_reference_frame
flight = self.vessel.flight(ref)
self.check_properties_not_affected_by_reference_frame(flight)
speed = 2245.75
self.assertAlmostEqual(speed, norm(flight.velocity), delta=0.5)
position = self.vessel.position(ref)
direction = vector(cross(normalize(position), (0, 1, 0)))
velocity = direction * speed
self.assertAlmostEqual(tuple(velocity), flight.velocity, delta=2)
self.assertAlmostEqual(speed, flight.speed, delta=0.5)
self.assertAlmostEqual(speed, flight.horizontal_speed, delta=0.5)
self.assertAlmostEqual(0, flight.vertical_speed, delta=0.5)
self.check_speeds(flight)
self.check_orbital_vectors(flight)
def test_pre_attached_ports(self):
""" Test ports that were pre-attached in the VAB """
bottom_port = next(
p for p in self.parts.docking_ports
if p.part.parent.title == 'Clamp-O-Tron Docking Port')
top_port = bottom_port.part.parent.docking_port
launch_clamp = bottom_port.part.children[0].launch_clamp
self.assertEqual(self.State.docked, top_port.state)
self.assertEqual(self.State.docked, bottom_port.state)
self.assertEqual(top_port.part, bottom_port.docked_part)
self.assertEqual(bottom_port.part, top_port.docked_part)
# Undock
mass_before = self.vessel.mass
undocked = top_port.undock()
mass_after = self.vessel.mass
self.assertIsNone(bottom_port.docked_part)
self.assertIsNone(top_port.docked_part)
# Undocking
self.assertNotEqual(self.vessel, undocked)
self.assertLess(mass_after, mass_before)
self.assertAlmostEqual(mass_after,
mass_before - undocked.mass,
places=2)
self.assertEqual(self.State.undocking, top_port.state)
self.assertEqual(self.State.undocking, bottom_port.state)
self.assertIsNone(bottom_port.docked_part)
self.assertIsNone(top_port.docked_part)
# Drop the port
launch_clamp.release()
while (top_port.state == self.State.undocking
or bottom_port.state == self.State.undocking):
pass
# Undocked
self.assertEqual(self.State.ready, top_port.state)
self.assertEqual(self.State.ready, bottom_port.state)
self.assertIsNone(bottom_port.docked_part)
self.assertIsNone(top_port.docked_part)
distance = norm(top_port.position(bottom_port.reference_frame))
self.assertGreater(distance, top_port.reengage_distance)
self.assertLess(distance, top_port.reengage_distance + 1)
def test_pre_attached_ports(self):
""" Test ports that were pre-attached in the VAB """
bottom_port = next(
p for p in self.parts.docking_ports
if p.part.parent.title == 'Clamp-O-Tron Docking Port')
top_port = bottom_port.part.parent.docking_port
launch_clamp = bottom_port.part.children[0].launch_clamp
self.assertEqual(self.State.docked, top_port.state)
self.assertEqual(self.State.docked, bottom_port.state)
self.assertEqual(top_port.part, bottom_port.docked_part)
self.assertEqual(bottom_port.part, top_port.docked_part)
# Undock
mass_before = self.vessel.mass
undocked = top_port.undock()
mass_after = self.vessel.mass
self.assertIsNone(bottom_port.docked_part)
self.assertIsNone(top_port.docked_part)
# Undocking
self.assertNotEqual(self.vessel, undocked)
self.assertLess(mass_after, mass_before)
self.assertAlmostEqual(
mass_after, mass_before - undocked.mass, places=2)
self.assertEqual(self.State.undocking, top_port.state)
self.assertEqual(self.State.undocking, bottom_port.state)
self.assertIsNone(bottom_port.docked_part)
self.assertIsNone(top_port.docked_part)
# Drop the port
launch_clamp.release()
while (top_port.state == self.State.undocking or
bottom_port.state == self.State.undocking):
pass
# Undocked
self.assertEqual(self.State.ready, top_port.state)
self.assertEqual(self.State.ready, bottom_port.state)
self.assertIsNone(bottom_port.docked_part)
self.assertIsNone(top_port.docked_part)
distance = norm(top_port.position(bottom_port.reference_frame))
self.assertGreater(distance, top_port.reengage_distance)
self.assertLess(distance, top_port.reengage_distance+1)
def check(self, node, delta_v):
self.assertAlmostEqual(delta_v[0], node.prograde, places=3)
self.assertAlmostEqual(delta_v[1], node.normal, places=3)
self.assertAlmostEqual(delta_v[2], node.radial, places=3)
self.assertAlmostEqual(norm(delta_v), node.delta_v, places=3)
self.assertAlmostEqual(norm(delta_v), node.remaining_delta_v, delta=0.2)
bv = node.burn_vector(node.reference_frame)
self.assertAlmostEqual(norm(delta_v), norm(bv), places=3)
self.assertAlmostEqual((0, 1, 0), normalize(bv), places=3)
orbital_bv = node.burn_vector(node.orbital_reference_frame)
self.assertAlmostEqual(norm(delta_v), norm(orbital_bv), places=3)
self.assertAlmostEqual((-delta_v[2], delta_v[0], delta_v[1]), orbital_bv, places=3)
direction = node.direction(node.reference_frame)
self.assertAlmostEqual((0, 1, 0), direction, places=3)
orbital_direction = node.direction(node.orbital_reference_frame)
self.assertAlmostEqual(normalize((-delta_v[2], delta_v[0], delta_v[1])), orbital_direction, places=3)
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_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 test_norm(self):
self.assertAlmostEqual(0, norm((0, 0, 0)))
self.assertAlmostEqual(1, norm((1, 0, 0)))
self.assertAlmostEqual(2, norm((2, 0, 0)))
self.assertAlmostEqual(math.sqrt(2), norm((1, 1, 0)))
def test_norm(self):
self.assertAlmostEqual(0, norm((0, 0, 0)))
self.assertAlmostEqual(1, norm((1, 0, 0)))
self.assertAlmostEqual(2, norm((2, 0, 0)))
self.assertAlmostEqual(math.sqrt(2), norm((1, 1, 0)))
def undock_and_dock(self, port1, port2):
vessel = self.sc.active_vessel
# Do it twice - once to undock pre-attached ports, once to undock ports docked in flight
for _ in range(2):
# Kill rotation
vessel.control.sas = True
self.wait(3)
vessel.control.sas = False
self.wait()
self.assertEqual(self.state.docked, port1.state)
self.assertEqual(self.state.docked, port2.state)
self.assertEqual(port1.part, port2.docked_part)
self.assertEqual(port2.part, port1.docked_part)
# Undock
mass_before = vessel.mass
undocked = port1.undock()
self.assertNotEqual(vessel, undocked)
self.assertEqual(self.state.undocking, port1.state)
self.assertEqual(self.state.undocking, port2.state)
self.assertIsNone(port2.docked_part)
self.assertIsNone(port1.docked_part)
mass_after = vessel.mass
self.assertLess(mass_after, mass_before)
self.assertAlmostEqual(mass_after, mass_before - undocked.mass, places=2)
# Move backwards to reengage distance
vessel.control.rcs = True
vessel.control.forward = -0.5
self.wait(0.5)
vessel.control.forward = 0.0
while port1.state == self.state.undocking or port2.state == self.state.undocking:
self.wait()
self.assertEqual(self.state.ready, port1.state)
self.assertEqual(self.state.ready, port2.state)
self.assertIsNone(port2.docked_part)
self.assertIsNone(port1.docked_part)
distance = norm(port1.position(port2.reference_frame))
self.assertGreater(distance, port1.reengage_distance)
self.assertLess(distance, port1.reengage_distance+1)
self.wait(0.5)
# Check undocking when not docked
with self.assertRaises(krpc.error.RPCError) as cm:
port1.undock()
self.assertTrue('The docking port is not docked' in str(cm.exception))
with self.assertRaises(krpc.error.RPCError) as cm:
port2.undock()
self.assertTrue('The docking port is not docked' in str(cm.exception))
# Move forward
vessel.control.forward = 0.5
self.wait(1)
vessel.control.forward = 0.0
vessel.control.rcs = False
while port1.state == self.state.ready or port2.state == self.state.ready:
self.wait()
# Docking
self.assertEqual(self.state.docking, port1.state)
self.assertEqual(self.state.docking, port2.state)
while port1.state == self.state.docking or port2.state == self.state.docking:
self.wait()
# Docked
self.assertEqual(self.state.docked, port1.state)
self.assertEqual(self.state.docked, port2.state)
self.assertEqual(port1.part, port2.docked_part)
self.assertEqual(port2.part, port1.docked_part)
# Get the new vessel
vessel = self.sc.active_vessel
def undock_and_dock(self, port1, port2):
vessel = self.sc.active_vessel
# Do it twice - once to undock pre-attached ports, once to undock ports docked in flight
for _ in range(2):
# Kill rotation
vessel.control.sas = True
self.wait(3)
vessel.control.sas = False
self.wait()
self.assertEqual(self.state.docked, port1.state)
self.assertEqual(self.state.docked, port2.state)
self.assertEqual(port1.part, port2.docked_part)
self.assertEqual(port2.part, port1.docked_part)
# Undock
mass_before = vessel.mass
undocked = port1.undock()
self.assertNotEqual(vessel, undocked)
self.assertEqual(self.state.undocking, port1.state)
self.assertEqual(self.state.undocking, port2.state)
self.assertIsNone(port2.docked_part)
self.assertIsNone(port1.docked_part)
mass_after = vessel.mass
self.assertLess(mass_after, mass_before)
self.assertAlmostEqual(mass_after,
mass_before - undocked.mass,
places=3)
# Move backwards to reengage distance
vessel.control.rcs = True
vessel.control.forward = -0.5
self.wait(0.5)
vessel.control.forward = 0.0
while port1.state == self.state.undocking or port2.state == self.state.undocking:
self.wait()
self.assertEqual(self.state.ready, port1.state)
self.assertEqual(self.state.ready, port2.state)
self.assertIsNone(port2.docked_part)
self.assertIsNone(port1.docked_part)
distance = norm(port1.position(port2.reference_frame))
self.assertGreater(distance, port1.reengage_distance)
self.assertLess(distance, port1.reengage_distance + 1)
self.wait(0.5)
# Check undocking when not docked
with self.assertRaises(krpc.error.RPCError) as cm:
port1.undock()
self.assertTrue(
'The docking port is not docked' in str(cm.exception))
with self.assertRaises(krpc.error.RPCError) as cm:
port2.undock()
self.assertTrue(
'The docking port is not docked' in str(cm.exception))
# Move forward
vessel.control.forward = 0.5
self.wait(1)
vessel.control.forward = 0.0
vessel.control.rcs = False
while port1.state == self.state.ready or port2.state == self.state.ready:
self.wait()
# Docking
self.assertEqual(self.state.docking, port1.state)
self.assertEqual(self.state.docking, port2.state)
while port1.state == self.state.docking or port2.state == self.state.docking:
self.wait()
# Docked
self.assertEqual(self.state.docked, port1.state)
self.assertEqual(self.state.docked, port2.state)
self.assertEqual(port1.part, port2.docked_part)
self.assertEqual(port2.part, port1.docked_part)
# Get the new vessel
vessel = self.sc.active_vessel
def test_transform_velocity_between_vessel_and_celestial_body(self):
vel = self.sc.transform_velocity((0, 0, 0), (0, 0, 0), self.ref_vessel,
self.ref_nr_kerbin)
self.assertAlmostEqual(norm(vel), self.vessel.orbit.speed, places=3)
def test_transform_position_between_vessel_and_celestial_body(self):
pos = self.sc.transform_position((0, 0, 0), self.ref_vessel,
self.ref_kerbin)
self.assertAlmostEqual(norm(pos), self.vessel.orbit.radius, places=2)
def test_transform_position_between_vessel_and_celestial_body(self):
pos = self.sc.transform_position(
(0, 0, 0), self.ref_vessel, self.ref_kerbin)
self.assertAlmostEqual(norm(pos), self.vessel.orbit.radius, places=2)
def test_transform_velocity_with_rotational_velocity(self):
direction = 100000 + 600000
vel = self.sc.transform_velocity(
(direction, 0, 0), (0, 0, 0), self.ref_kerbin, self.ref_nr_kerbin)
self.assertAlmostEqual(
norm(vel), direction * self.kerbin.rotational_speed, places=3)
def test_transform_velocity_between_vessel_and_celestial_body(self):
vel = self.sc.transform_velocity(
(0, 0, 0), (0, 0, 0), self.ref_vessel, self.ref_nr_kerbin)
self.assertAlmostEqual(norm(vel), self.vessel.orbit.speed, places=3)
