def test_move_backward(self):
self.control = self.conn.space_center.active_vessel.control
# Check the rover is stationary
self.assertClose(0, self.flight.horizontal_speed)
# Reverse throttle for 1 second
self.control.wheel_steer = 0
self.control.wheel_throttle = -0.5
self.control.brakes = False
time.sleep(1)
# Check the rover is moving south
self.assertGreater(self.flight.horizontal_speed, 0)
direction = normalize(self.flight.velocity)
# In the body's reference frame, y-axis points from CoM to north pole
# As we are close to the equator, this is very close to the north direction
self.assertClose((0,-1,0), direction, 0.2)
# Apply brakes
self.control.wheel_throttle = 0
self.control.brakes = True
time.sleep(5)
# Check the rover is stopped
self.assertClose(self.flight.horizontal_speed, 0)
def test_move_backward(self):
self.control = self.conn.space_center.active_vessel.control
# Check the rover is stationary
self.assertClose(0, self.flight.horizontal_speed)
# Reverse throttle for 1 second
self.control.wheel_steer = 0
self.control.wheel_throttle = -0.5
self.control.brakes = False
time.sleep(1)
# Check the rover is moving south
self.assertGreater(self.flight.horizontal_speed, 0)
direction = normalize(self.flight.velocity)
# In the body's reference frame, y-axis points from CoM to north pole
# As we are close to the equator, this is very close to the north direction
self.assertClose((0, -1, 0), direction, 0.2)
# Apply brakes
self.control.wheel_throttle = 0
self.control.brakes = True
time.sleep(5)
# Check the rover is stopped
self.assertClose(self.flight.horizontal_speed, 0)
def test_set_magnitude(self):
node = self.control.add_node(self.conn.space_center.ut, 1, -2, 3)
magnitude = 128
node.delta_v = magnitude
v = vector(normalize([1,-2,3])) * magnitude
self.check(node, v)
node.remove()
def test_set_magnitude(self):
node = self.control.add_node(self.conn.space_center.ut, 1, -2, 3)
magnitude = 128
node.delta_v = magnitude
v = normalize([1,-2,3]) * magnitude
self.check(node, v)
node.remove()
def test_set_direction(self):
cases = [(1, 0, 0), (0, 1, 0), (0, 0, 1), (-1, 0, 0), (0, -1, 0),
(0, 0, -1), (1, 2, 3)]
for direction in cases:
direction = normalize(direction)
self.set_direction(direction)
self.wait_for_autopilot()
self.check_direction(direction)
def test_set_direction_and_roll(self):
cases = [((1, 1, 0), 23), ((0, 1, 1), -75), ((1, 0, 1), 14),
((-1, 0, 1), -83), ((0, -1, 1), -11), ((1, 0, -1), 2),
((1, 2, 3), 42)]
for direction, roll in cases:
direction = normalize(direction)
self.set_direction(direction, roll)
self.wait_for_autopilot()
self.check_direction(direction, roll)
def check(self, node, deltav):
self.assertClose(deltav[0], node.prograde)
self.assertClose(deltav[1], node.normal)
self.assertClose(deltav[2], node.radial)
self.assertClose(norm(deltav), node.delta_v)
self.assertClose(norm(deltav), node.remaining_delta_v, 0.2)
bv = node.burn_vector(node.reference_frame)
self.assertClose(norm(deltav), norm(bv))
self.assertClose((0,1,0), normalize(bv))
orbital_bv = node.burn_vector(node.orbital_reference_frame)
self.assertClose(norm(deltav), norm(orbital_bv))
self.assertClose((-deltav[2],deltav[0],deltav[1]), orbital_bv)
d = node.direction(node.reference_frame)
self.assertClose((0,1,0), d)
orbital_d = node.direction(node.orbital_reference_frame)
self.assertClose(normalize((-deltav[2],deltav[0],deltav[1])), orbital_d)
def check(self, node, deltav):
self.assertClose(deltav[0], node.prograde)
self.assertClose(deltav[1], node.normal)
self.assertClose(deltav[2], node.radial)
self.assertClose(norm(deltav), node.delta_v)
self.assertClose(norm(deltav), node.remaining_delta_v, 0.2)
bv = node.burn_vector(node.reference_frame)
self.assertClose(norm(deltav), norm(bv))
self.assertClose((0,1,0), normalize(bv))
orbital_bv = node.burn_vector(node.orbital_reference_frame)
self.assertClose(norm(deltav), norm(orbital_bv))
self.assertClose((-deltav[2],deltav[0],deltav[1]), orbital_bv)
d = node.direction(node.reference_frame)
self.assertClose((0,1,0), d)
orbital_d = node.direction(node.orbital_reference_frame)
self.assertClose(normalize((-deltav[2],deltav[0],deltav[1])), orbital_d)
def test_angular_velocity(self):
for body in self.conn.space_center.bodies.values():
# Check body's angular velocity relative to itself is zero
av = body.angular_velocity(body.reference_frame)
self.assertClose((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.assertClose((0,-1,0), normalize(av))
self.assertClose(body.rotational_speed, norm(av))
def test_angular_velocity(self):
for body in self.conn.space_center.bodies.values():
# Check body's angular velocity relative to itself is zero
av = body.angular_velocity(body.reference_frame)
self.assertClose((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.assertClose((0, -1, 0), normalize(av))
self.assertClose(body.rotational_speed, norm(av))
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 = speed - abs(vertical_speed)
self.assertClose(speed, flight.speed, error=0.5)
self.assertClose(vertical_speed, flight.vertical_speed, error=0.5)
self.assertClose(horizontal_speed, flight.horizontal_speed, error=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.assertClose(speed, flight.speed, error=0.5)
self.assertClose(vertical_speed, flight.vertical_speed, error=0.5)
self.assertClose(horizontal_speed, flight.horizontal_speed, error=0.5)
def test_basic_direction(self):
direction = normalize([10,20,30])
roll = 42
self.vessel.control.sas = False
self.ap.set_direction(direction, roll=roll)
while self.ap.error > 0.1:
time.sleep(0.25)
self.vessel.control.sas = True
self.ap.disengage()
flight = self.vessel.flight()
self.assertClose(vector(direction), vector(flight.direction), error=0.1)
self.assertClose(roll, flight.roll, error=0.5)
def test_set_direction(self):
cases = [
((1,0,0), 0),
((0,1,0), 0),
((0,0,1), 0),
((-1,0,0), 0),
((0,-1,0), 0),
((0,0,-1), 0),
((1,2,3), 42)
]
for direction,roll in cases:
direction = normalize(direction)
self.set_direction(direction,roll)
self.check_direction(direction,roll)
def test_set_direction_and_roll(self):
cases = [
((1,1,0), 23),
((0,1,1), -75),
((1,0,1), 14),
((-1,0,1), -83),
((0,-1,1), -11),
((1,0,-1), 2),
((1,2,3), 42)
]
for direction,roll in cases:
direction = normalize(direction)
self.set_direction(direction,roll)
self.check_direction(direction,roll)
def test_set_direction(self):
cases = [
(1,0,0),
(0,1,0),
(0,0,1),
(-1,0,0),
(0,-1,0),
(0,0,-1),
(1,2,3)
]
for direction in cases:
direction = normalize(direction)
self.set_direction(direction)
self.check_direction(direction)
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.assertClose(1, norm(direction))
# Check vessel direction vector agrees with pitch angle
pitch = 90 - rad2deg(math.acos(dot(up_direction, direction)))
self.assertClose(flight.pitch, pitch, error=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.assertCloseDegrees(flight.heading, rad2deg(math.acos(dot(north_component, north_direction))), error=1)
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.assertClose(1, norm(direction))
# Check vessel direction vector agrees with pitch angle
pitch = 90 - rad2deg(math.acos(dot(up_direction, direction)))
self.assertClose(flight.pitch, pitch, error=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.assertCloseDegrees(flight.heading, rad2deg(math.acos(dot(north_component, north_direction))), error=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 = 2246.1
self.assertClose(speed, norm(flight.velocity), error=0.5)
position = self.vessel.position(ref)
direction = vector(cross(normalize(position), (0,1,0)))
velocity = direction * speed
self.assertClose(velocity, flight.velocity, error=2)
self.assertClose(speed, flight.speed, error=0.5)
self.assertClose(speed, flight.horizontal_speed, error=0.5)
self.assertClose(0, flight.vertical_speed, error=0.5)
self.check_speeds(flight)
self.check_orbital_vectors(flight)
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 = 2246.1
self.assertClose(speed, norm(flight.velocity), error=0.5)
position = self.vessel.position(ref)
direction = vector(cross(normalize(position), (0,1,0)))
velocity = direction * speed
self.assertClose(velocity, flight.velocity, error=2)
self.assertClose(speed, flight.speed, error=0.5)
self.assertClose(speed, flight.horizontal_speed, error=0.5)
self.assertClose(0, flight.vertical_speed, error=0.5)
self.check_speeds(flight)
self.check_orbital_vectors(flight)
def test_transform_direction_same_reference_frame(self):
d = normalize((1,2,3))
self.assertClose(d, self.sc.transform_direction(d, self.ref_vessel, self.ref_vessel))
def test_transform_direction_same_reference_frame(self):
d = normalize((1,2,3))
self.assertClose(d, self.sc.transform_direction(d, self.ref_vessel, self.ref_vessel))
