def test_baro_pressure_at_10000m():
test_rocket = rm.Rocket()
test_rocket.baro = sensors.Baro_Pressure_Sensor()
test_rocket.temperature = -49.86
test_rocket.altitude = 10000
assert (abs(test_rocket.baro.update(test_rocket) - 26.5162) <=
rm.TOLERANCE)
def test_baro_pressure_at_ground():
test_rocket = rm.Rocket()
test_rocket.baro = sensors.Baro_Pressure_Sensor()
test_rocket.temperature = 15.04
test_rocket.altitude = 0
assert (abs(test_rocket.baro.update(test_rocket) - 101.4009) <=
rm.TOLERANCE)
def test_velocity_uv_with_no_velocity():
"""
Test velocity_uv() for no velocity (velocity vector is zero vector).
"""
test_rocket = rm.Rocket()
test_rocket.velocity = np.array([0, 0, 0])
assert np.all(test_rocket.velocity_uv() == np.array([0, 0, 0]))
def test_speed_with_floats():
"""
Test speed() for velocity vector with floats.
"""
test_rocket = rm.Rocket()
test_rocket.velocity = np.array([2.5, 3.5, 4.5])
assert test_rocket.speed() == np.sqrt(38.75)
def test_speed_with_negative_ints():
"""
Test speed() for velocity vector with negative integers.
"""
test_rocket = rm.Rocket()
test_rocket.velocity = np.array([-1, -1, -1])
assert test_rocket.speed() == np.sqrt(3)
def test_velocity_uv_with_negative_ints():
"""
Test velocity_uv() for velocity vector with negative integers.
"""
test_rocket = rm.Rocket()
test_rocket.velocity = np.array([-1, -1, -1])
assert np.all(test_rocket.velocity_uv() == np.array(
[(-1 / np.sqrt(3)), (-1 / np.sqrt(3)), (-1 / np.sqrt(3))]))
def test_velocity_uv_with_positive_ints():
"""
Test velocity_uv() for velocity vector with positive integers.
"""
test_rocket = rm.Rocket()
test_rocket.velocity = np.array([1, 1, 1])
assert np.all(test_rocket.velocity_uv() == np.array(
[(1 / np.sqrt(3)), (1 / np.sqrt(3)), (1 / np.sqrt(3))]))
def test_speed_with_no_velocity():
"""
Test speed() for no velocity (velocity vector is zero
vector).
"""
test_rocket = rm.Rocket()
test_rocket.velocity = np.array([0, 0, 0])
assert test_rocket.speed() == 0
def test_update_thrust_with_no_thrust_and_def_orientation():
"""
Test update_thrust() for no thrust and default orientation (thrust is the zero vector).
"""
test_rocket = rm.Rocket()
current_time = 0
thrust_after_update = np.array([0, 0, 0])
new_thrust = test_rocket.update_thrust(current_time)
np.testing.assert_allclose(new_thrust, thrust_after_update, atol=rm.TOLERANCE)
def test_velocity_uv_with_floats():
"""
Test velocity_uv() for velocity vector with floats.
"""
test_rocket = rm.Rocket()
test_rocket.velocity = np.array([2.5, 3.5, 4.5])
assert np.all(test_rocket.velocity_uv() == np.array(
[(2.5 / np.sqrt(38.75)), (3.5 / np.sqrt(38.75)),
(4.5 / np.sqrt(38.75))]))
def test_drag_with_no_velocity(mocker):
"""
Test drag_force() for no velocity (velocity vector is zero vector).
"""
test_rocket = rm.Rocket()
mocker.patch('rocket_math.Rocket.speed', return_value=0)
mocker.patch('rocket_math.Rocket.velocity_uv',
return_value=np.array([0, 0, 0]))
mocker.patch('rocket_math.Rocket.air_density', return_value=1.22)
assert np.all(test_rocket.drag_force() == np.array([0, 0, 0]))
def test_update_velocity_with_vel_and_accel_floats():
"""
Test update_velocity() for velocity and acceleration vectors with floats.
"""
test_rocket = rm.Rocket()
test_rocket.velocity = np.array([1.5, 2.5, 3.5])
test_rocket.world_acceleration = np.array([1.5, 2.5, 3.5])
delta_time = 1
assert np.all(test_rocket.update_velocity(delta_time) ==
np.array([3, 5, 7]))
def test_update_velocity_with_neg_vel_and_accel_ints():
"""
Test update_velocity() for velocity and acceleration vectors with negative
integers and time change.
"""
test_rocket = rm.Rocket()
test_rocket.velocity = np.array([-1, -1, -1])
test_rocket.world_acceleration = np.array([-1, -1, -1])
delta_time = 1
assert np.all(test_rocket.update_velocity(delta_time) ==
np.array([-2, -2, -2]))
def test_update_position_with_neg_z_and_no_vel():
"""
Test update_position() for position vector with negative z component
and no velocity vector.
"""
test_rocket = rm.Rocket()
test_rocket.position = np.array([1.5, 2.5, -3.5])
test_rocket.velocity = np.array([0, 0, 0])
delta_time = 1
assert np.all(test_rocket.update_position(delta_time) ==
np.array([1.5, 2.5, 0]))
def test_update_position_with_neg_position_and_vel_ints():
"""
Test update_position() for position and velocity vectors with negative
integers and time change.
"""
test_rocket = rm.Rocket()
test_rocket.position = np.array([-1, -1, -1])
test_rocket.velocity = np.array([-1, -1, -1])
delta_time = 1
assert np.all(test_rocket.update_position(delta_time) ==
np.array([-2, -2, 0]))
def test_update_position_with_big_neg_position_and_pos_vel_ints():
"""
Test update_position() for position vector with negative integers and
velocity vector with positive integers (position magnitude is bigger).
"""
test_rocket = rm.Rocket()
test_rocket.position = np.array([-3, -3, -3])
test_rocket.velocity = np.array([1, 1, 1])
delta_time = 1
assert np.all(test_rocket.update_position(delta_time) ==
np.array([-2, -2, 0]))
def test_update_position_with_pos_int_position_and_no_time_change():
"""
Test update_position() for position and velocity vectors with positive
integers and no time change.
"""
test_rocket = rm.Rocket()
test_rocket.position = np.array([1, 1, 1])
test_rocket.velocity = np.array([1, 1, 1])
delta_time = 0
assert np.all(test_rocket.update_position(delta_time) ==
np.array([1, 1, 1]))
def test_update_position_with_pos_int_position_and_no_vel():
"""
Test update_position() for position vector with positive integers and
time change but no velocity vector.
"""
test_rocket = rm.Rocket()
test_rocket.position = np.array([1, 1, 1])
test_rocket.velocity = np.array([0, 0, 0])
delta_time = 1
assert np.all(test_rocket.update_position(delta_time) ==
np.array([1, 1, 1]))
def test_update_position_no_position_or_vel():
"""
Test update_position() for no position or velocity (position and
velocity vectors are zero vectors).
"""
test_rocket = rm.Rocket()
test_rocket.position = np.array([0, 0, 0])
test_rocket.velocity = np.array([0, 0, 0])
delta_time = 1
assert np.all(test_rocket.update_position(delta_time) ==
np.array([0, 0, 0]))
def test_update_velocity_with_no_vel_or_accel():
"""
Test update_velocity() for no velocity or acceleration (velocity and
acceleration vectors are zero vectors).
"""
test_rocket = rm.Rocket()
test_rocket.velocity = np.array([0, 0, 0])
test_rocket.world_acceleration = np.array([0, 0, 0])
delta_time = 1
assert np.all(test_rocket.update_velocity(delta_time) ==
np.array([0, 0, 0]))
def test_update_velocity_with_big_neg_vel_and_pos_accel_ints():
"""
Test update_velocity() for velocity vector with negative integers and
acceleration vector with positive integers (velocity magnitude is bigger).
"""
test_rocket = rm.Rocket()
test_rocket.velocity = np.array([-3, -3, -3])
test_rocket.world_acceleration = np.array([1, 1, 1])
delta_time = 1
assert np.all(test_rocket.update_velocity(delta_time) ==
np.array([-2, -2, -2]))
def test_update_position_with_only_neg_velocity():
"""
Test update_position() for only velocity vector with negative floats
and no position vector.
"""
test_rocket = rm.Rocket()
test_rocket.position = np.array([0, 0, 0])
test_rocket.velocity = np.array([-1.5, -2.5, -3.5])
delta_time = 1
assert np.all(test_rocket.update_position(delta_time) ==
np.array([-1.5, -2.5, 0]))
def test_update_position_with_position_and_vel_floats():
"""
Test update_position() for position and velocity vectors with positive
floats.
"""
test_rocket = rm.Rocket()
test_rocket.position = np.array([1.5, 2.5, 3.5])
test_rocket.velocity = np.array([1.5, 2.5, 3.5])
delta_time = 1
assert np.all(test_rocket.update_position(delta_time) ==
np.array([3, 5, 7]))
def test_update_velocity_with_pos_vel_and_no_accel_ints():
"""
Test update_velocity() for velocity vector with positive integers and time
change but no acceleration.
"""
test_rocket = rm.Rocket()
test_rocket.velocity = np.array([1, 1, 1])
test_rocket.world_acceleration = np.array([0, 0, 0])
delta_time = 1
assert np.all(test_rocket.update_velocity(delta_time) ==
np.array([1, 1, 1]))
def test_body_acceleration_zeros():
"""
Test update_body_acceleration() using a zero vector
"""
test_rocket = rm.Rocket()
test_rocket.accelerometer = sensors.Accelerometer()
test_rocket.orientation = Quaternion(axis=[1, 1, 1],
angle=np.pi / 2).elements
test_rocket.world_acceleration = np.array([0, 0, 0])
body_acceleration_after_rotate = np.array([0, 0, 0])
new_body_acceleration = test_rocket.accelerometer.update(test_rocket)
assert np.all(body_acceleration_after_rotate == new_body_acceleration)
def test_update_thrust_with_pos_thrust_and_def_orientation():
"""
Test update_thrust() for thrust vector with positive integers and default orientation:
orientation = np.array([1.0, 0.0, 0.0, 0.0]) # identity quaternion
"""
test_rocket = rm.Rocket()
test_rocket.burn_time = 10
test_rocket.thrust = np.array([1, 1, 1])
current_time = 0
thrust_after_update = np.array([1, 1, 1])
new_thrust = test_rocket.update_thrust(current_time)
np.testing.assert_allclose(new_thrust, thrust_after_update, atol=rm.TOLERANCE)
def test_update_thrust_with_greater_current_time():
"""
Test update_thrust() for current time greater than burn time.
thrust = [1, 1, 1]
orienation is axis of [1, 0, 0] with angle pi/2
"""
test_rocket = rm.Rocket()
test_rocket.burn_time = 10
test_rocket.thrust = np.array([1, 1, 1])
current_time = 20
test_rocket.orientation = Quaternion(axis=[1, 0, 0], angle=(np.pi / 2)).elements
assert np.all(test_rocket.update_thrust(current_time) == np.array([0, 0, 0]))
def test_magnetic_field_negative_integers():
test_rocket = rm.Rocket()
test_rocket.magnetometer = sensors.Magnetometer()
test_rocket.orientation = Quaternion(axis=[1, 0, 1],
angle=np.pi / 2).elements
test_rocket.world_mag_field[3] = -1
test_rocket.world_mag_field[4] = -1
test_rocket.world_mag_field[5] = -3
mag_field_after_rotate = np.array([1.707107, -2.828427, 0.292893])
new_mag_field = test_rocket.magnetometer.update(test_rocket)
np.testing.assert_allclose(new_mag_field,
mag_field_after_rotate,
atol=rm.TOLERANCE)
def test_magnetic_field_zeros():
"""
Test update_magnetic_field() using a zero vector
"""
test_rocket = rm.Rocket()
test_rocket.magnetometer = sensors.Magnetometer()
test_rocket.orientation = Quaternion(axis=[1, 1, 1],
angle=np.pi / 2).elements
mag_field_after_rotate = np.array([0, 0, 0])
new_mag_field = test_rocket.magnetometer.update(test_rocket)
np.testing.assert_allclose(new_mag_field,
mag_field_after_rotate,
atol=rm.TOLERANCE)
def test_body_acceleration_180_degrees():
"""
Test update_body_acceleration() at an angle of 180 degrees
"""
test_rocket = rm.Rocket()
test_rocket.accelerometer = sensors.Accelerometer()
test_rocket.orientation = Quaternion(axis=[1, 0, 1], angle=np.pi).elements
test_rocket.world_acceleration = np.array([1, 1, 1])
body_acceleration_after_rotate = np.array([1, -1, 1])
new_body_acceleration = test_rocket.accelerometer.update(test_rocket)
np.testing.assert_allclose(new_body_acceleration,
body_acceleration_after_rotate,
atol=rm.TOLERANCE)
