def setUp(self):
simRunner = Simulation(
"MAPLEAF/Examples/Simulations/EventDetector.mapleaf", silent=True)
self.rocket = simRunner.createRocket()
self.rocket.rigidBody.time = 30 # Set to arbitrary time > 1 sec
self.calledCount = 0
self.eventDetector = SimEventDetector(self.rocket)
def setUpClass(cls):
simRunner1 = Simulation("MAPLEAF/Examples/Simulations/test2.mapleaf",
silent=True)
cls.rocket = simRunner1.createRocket()
simRunner2 = Simulation("MAPLEAF/Examples/Simulations/test6.mapleaf",
silent=True)
cls.rocket2 = simRunner2.createRocket()
canardRunner = Simulation(
"MAPLEAF/Examples/Simulations/Canards.mapleaf", silent=True)
canardRunner.simDefinition.setValue("SimControl.loggingLevel", "0")
cls.canardRocket = canardRunner.createRocket()
cls.originalCanardRocketState = cls.canardRocket.rigidBody.state
cls.stagingRunner = Simulation(
"MAPLEAF/Examples/Simulations/Staging.mapleaf", silent=True)
cls.stagingRunner.simDefinition.setValue("SimControl.loggingLevel",
"0")
cls.stagingRocket = cls.stagingRunner.createRocket()
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_stagedInitialization(self):
# Check that positions of objects in first and second stages are different. The stages are otherwise identical, except the first stage doesn't have a nosecone
bodyTube1 = self.stagingRocket.stages[0].getComponentsOfType(
RecoverySystem)[0]
firstStageRecoveryPosition = bodyTube1.position.Z
bodyTube2 = self.stagingRocket.stages[1].getComponentsOfType(
RecoverySystem)[0]
secondStageRecoveryPosition = bodyTube2.position.Z
self.assertEqual(firstStageRecoveryPosition - 4.011,
secondStageRecoveryPosition)
orbitalSimRunner = Simulation(
"MAPLEAF/Examples/Simulations/NASATwoStageOrbitalRocket.mapleaf",
silent=True)
rocket = orbitalSimRunner.createRocket()
initInertia = rocket.getInertia(0, rocket.rigidBody.state)
self.assertAlmostEqual(initInertia.mass, 314000.001, 2)
def test_instantTurn(self):
simulationDefinition = SimDefinition("MAPLEAF/Examples/Simulations/Canards.mapleaf", silent=True)
# Use an ideal moment controller
simulationDefinition.setValue("Rocket.ControlSystem.MomentController.Type", "IdealMomentController")
# Set initial direction to be pointing directly upwards
simulationDefinition.setValue("Rocket.initialDirection", "(0 0 1)")
# Ask for an Immediate Turn
simulationDefinition.setValue("Rocket.ControlSystem.desiredFlightDirection", "(0 1 1)")
runner = Simulation(simDefinition=simulationDefinition, silent=True)
rocket = runner.createRocket()
# Take a time step and check that the desired direction has been achieved immediately
rocket.timeStep(0.01)
currentDirection = rocket.rigidBody.state.orientation.rotate(Vector(0,0,1))
expectedDirection = Vector(0,1,1).normalize()
assertVectorsAlmostEqual(self, currentDirection, expectedDirection, 5)
def test_BarrowmanCPLocation(self):
# Check that for a cone, XCP = 0.666 Length
length = 1
baseArea = 1
tipArea = 0
volume = baseArea * length / 3
XCP_cone = AeroFunctions.Barrowman_GetCPLocation(
length, tipArea, baseArea, volume)
self.assertAlmostEqual(XCP_cone.Z, -0.666666666)
# Check that for a tangent ogive nosecone, XCP = 0.466 Length
SimRunner = Simulation("MAPLEAF/Examples/Simulations/test3.mapleaf",
silent=True)
rocket = SimRunner.createRocket()
rocketNosecone = rocket.stages[0].getComponentsOfType(NoseCone)[0]
noseconeLength = rocketNosecone.length
expectedCp = rocketNosecone.position + Vector(
0, 0, -0.46666 * noseconeLength)
actualCp = rocketNosecone.CPLocation
assertVectorsAlmostEqual(self, expectedCp, actualCp, 2)
def test_delayedStaging(self):
# Create simRunner & Rocket
simDef = deepcopy(self.stagingRunner.simDefinition)
simDef.setValue("SimControl.timeDiscretization", "RK4")
simDef.setValue("Rocket.FirstStage.separationDelay", "0.01")
stagingSimRunner = Simulation(simDefinition=simDef, silent=True)
twoStageRocket = stagingSimRunner.createRocket()
# Initialize properties in the simRunner required for stage separation. These are normally created in simRunner._run
stagingSimRunner.rocketStages = [twoStageRocket]
stagingSimRunner.dts = [0.011]
stagingSimRunner.endDetectors = [
stagingSimRunner._getEndDetectorFunction(
twoStageRocket, stagingSimRunner.simDefinition)
]
stagingSimRunner.stageFlightPaths = [
stagingSimRunner._setUpCachingForFlightAnimation(twoStageRocket)
]
# Set separation delay, take first time step
twoStageRocket.rigidBody.time = 4.99 # 0.01 seconds before motor burnout (5 seconds)
twoStageRocket.timeStep(
0.011
) # Past motor burnout - should schedule delayed separation for 10.511 seconds
twoStageRocket.simEventDetector.triggerEvents()
# Sim time reached: 5.01
# Check that separation has not triggered
self.assertEqual(len(twoStageRocket.stages), 2)
# Take time step that triggers separation
twoStageRocket.timeStep(
0.011) # Past delayed separation point (5.011 seconds)
twoStageRocket.simEventDetector.triggerEvents()
# Sim time reached: 5.012
# Check that separation has triggered
self.assertEqual(len(twoStageRocket.stages), 1)
def test_AddAndRemoveTimeSteppingConstraint(self):
simDefinition = SimDefinition("MAPLEAF/Examples/Simulations/Canards.mapleaf", silent=True)
simDefinition.setValue("SimControl.loggingLevel", "0")
# Set time step incompatible with a fixed control system update rate, and a larger initial time step
simDefinition.setValue("SimControl.timeDiscretization", "RK45Adaptive")
simDefinition.setValue("SimControl.timeStep", "0.02")
simDefinition.setValue("TimeStepAdaptation.controller", "PID")
# Make the recovery system deploy immediately
simDefinition.setValue("Rocket.Sustainer.RecoverySystem.stage1Trigger", "Time")
simDefinition.setValue("Rocket.Sustainer.RecoverySystem.stage1TriggerValue", "0.005")
simDefinition.setValue("Rocket.Sustainer.RecoverySystem.stage1DelayTime", "0")
# Set a fixed control system update rate
simDefinition.setValue("Rocket.ControlSystem.updateRate", "100")
simRunner = Simulation(simDefinition=simDefinition)
rocket = simRunner.createRocket()
# Check that the time step has been changed to be fixed, and is 0.01 seconds
self.assertTrue(isinstance(rocket.rigidBody.integrate, ClassicalIntegrator)) # As oppopsed to AdaptiveIntegrator
self.assertEqual(rocket.rigidBody.integrate.method, "RK4") # Check it's been switched from RK45Adaptive
integrationResult = rocket.timeStep(0.01) # Recovery system should deploy during this time step
rocket.simEventDetector.triggerEvents()
# Time stepping should revert to the original method
self.assertAlmostEqual(integrationResult.timeStepAdaptationFactor, 1.0)
self.assertAlmostEqual(integrationResult.dt, 0.01)
# Check that original time stepping method is back
self.assertTrue(isinstance(rocket.rigidBody.integrate, AdaptiveIntegrator))
self.assertEqual(rocket.rigidBody.integrate.method, "RK45Adaptive")
integrationResult2 = rocket.timeStep(0.01)
self.assertTrue(abs(integrationResult2.timeStepAdaptationFactor - 1.0) > 0.00000000000000001)
self.assertEqual(integrationResult2.dt, 0.01)
def setUp(self):
# Init rocket + environment
simRunner = Simulation(simDefinitionFilePath=
"MAPLEAF/Examples/Simulations/Recovery.mapleaf",
silent=True)
self.recoveryRocket = simRunner.createRocket()
self.rSys = self.recoveryRocket.recoverySystem
self.environment = self.recoveryRocket.environment
velDown = Vector(0, 0, -100)
velUp = Vector(0, 0, 100)
pos = Vector(0, 0, 500)
orientation = Quaternion(axisOfRotation=Vector(0, 0, 1), angle=0)
angVel = AngularVelocity(rotationVector=Vector(0, 0, 0))
self.descendingState = RigidBodyState(pos, velDown, orientation,
angVel)
self.descendingState_3DoF = RigidBodyState_3DoF(pos, velDown)
self.descendingTime = 2
self.ascendingState = RigidBodyState(pos, velUp, orientation, angVel)
self.ascendingState_3DoF = RigidBodyState_3DoF(pos, velUp)
self.ascendingTime = 2