def setUp(self):
simDef = SimDefinition("MAPLEAF/Examples/Simulations/Canards.mapleaf", silent=True)
simDef.setValue("SimControl.loggingLevel", "0")
simDef.setValue("Rocket.ControlSystem.MomentController.gainTableFilePath", "MAPLEAF/Examples/TabulatedData/testPIDControlLaw.txt")
simDef.setValue("Rocket.Sustainer.Canards.Actuators.deflectionTablePath","MAPLEAF/Examples/TabulatedData/testFinDeflectionLaw.txt")
simDef.removeKey("Rocket.ControlSystem.FlightPlan.filePath")
simRunner = Simulation(simDefinition=simDef, silent=True)
self.rocket = simRunner.createRocket()
def test_pinkNoiseStdDev(self):
simDef = SimDefinition("MAPLEAF/Examples/Simulations/Wind.mapleaf",
silent=True)
simDef.setValue("Environment.TurbulenceModel", "PinkNoise1D")
simDef.setValue("Environment.PinkNoiseModel.velocityStdDeviation", "1")
simDef.setValue("Environment.PinkNoiseModel.randomSeed1", "63583")
simDef.setValue("Environment.turbulenceOffWhenUnderChute", "False")
# Make sure turbulence intensity is not present since it overrides the given std deviation
simDef.removeKey("Environment.PinkNoiseModel.turbulenceIntensity")
envReader = SubDictReader("Environment", simDef)
turbModel = turbulenceModelFactory(envReader)
v1 = turbModel.getTurbVelocity(1, Vector(1, 0, 0), None)
self.assertAlmostEqual(v1[0], 0.7946604314895807 / 2.26)
v2 = turbModel.getTurbVelocity(1, Vector(1, 0, 0), None)
self.assertAlmostEqual(v2[0], 0.5874110050866364 / 2.26)
def test_rocketCGCalculation(self):
# Check actual CG Loc Calculation
# Top stage CG: #
# Nosecone: 1 kg @ 0m
# Recovery: 5 kg @ -2m
# BodyTube: 1 kg @ -0.762m
# Mass: 50 kg @ -2.6m
# Motor: 11.4885 kg @ 2.130434783
# Fins: 1 kg @ -4.011m
# Total Weight = 69.4885 kg
# Stage 1 CG: -2.4564359077698
expectedCG = Vector(0, 0, -1.731185736)
# Remove overrides from rocket definition file
simDef = SimDefinition("MAPLEAF/Examples/Simulations/Wind.mapleaf",
silent=True)
simDef.removeKey("Rocket.Sustainer.constCG")
simDef.removeKey("Rocket.Sustainer.constMass")
simDef.removeKey("Rocket.Sustainer.constMOI")
rocketDictReader = SubDictReader("Rocket", simDef)
rocket = Rocket(rocketDictReader, silent=True)
rocketInertia = rocket.getInertia(0, rocket.rigidBody.state)
assertVectorsAlmostEqual(self, rocketInertia.CG, expectedCG, n=4)
def test_readInitialParticlePositions(self):
simDef = SimDefinition(
"MAPLEAF/Examples/Simulations/InitializedOptimization.mapleaf",
silent=True)
opt = optimizationRunnerFactory(simDefinition=simDef, silent=True)
# Check that initial position has been loaded
bW1 = opt.initPositions[0][0]
self.assertAlmostEqual(bW1, 0.1)
# Check that the other initial position has been generated and is inside the expected bands
bW2 = opt.initPositions[1][0]
self.assertGreaterEqual(bW2, 0.01)
self.assertLessEqual(bW2, 0.2)
# Check that additional unexpected variables cause a crash
extraVariableKey = 'Optimization.IndependentVariables.InitialParticlePositions.p1.extraVariable'
with self.assertRaises(ValueError):
simDef.setValue(extraVariableKey, '25')
opt = optimizationRunnerFactory(simDefinition=simDef, silent=True)
simDef.removeKey(extraVariableKey)
# Check that an out of bounds value causes a crash
with self.assertRaises(ValueError):
simDef.setValue(
'Optimization.IndependentVariables.InitialParticlePositions.p1.bodyWeight',
'0.21')
opt = optimizationRunnerFactory(simDefinition=simDef, silent=True)
# Check that specifying the position of too many particles causes a crash
with self.assertRaises(ValueError):
simDef.setValue(
'Optimization.IndependentVariables.InitialParticlePositions.p2.bodyWeight',
'0.15')
simDef.setValue(
'Optimization.IndependentVariables.InitialParticlePositions.p3.bodyWeight',
'0.15')
opt = optimizationRunnerFactory(simDefinition=simDef, silent=True)