def testVectorObservationMethods():
for method in getImplementations(vector_observation,
vector_observation.VectorObservation):
for eulerAngles in itertools.combinations(angles * 3, 3):
for inclination in (0, 45, 80):
yield checkVectorObservation, method, eulerAngles, \
inclination
def testIntegrators():
for method in getImplementations(integrators, integrators.Integrator):
for function, integral, doubleIntegral in zip(functions, integrals,
doubleIntegrals):
yield checkIntegral, method, function, integral
yield (checkDoubleIntegral, method, function, integral,
doubleIntegral)
def testIntegrators():
for method in getImplementations(integrators, integrators.Integrator):
for function, integral, doubleIntegral in zip(functions, integrals,
doubleIntegrals):
yield checkIntegral, method, function, integral
yield (checkDoubleIntegral, method, function, integral,
doubleIntegral)
def testVectorObservationMethods():
for method in getImplementations(vector_observation,
vector_observation.VectorObservation):
for eulerAngles in itertools.combinations(angles*3,3):
for inclination in (0,45,80):
yield checkVectorObservation, method, eulerAngles, \
inclination
def testStaticConvergence():
for filterClass in getImplementations(orientation,
orientation.OrientationFilter):
if filterClass not in [
orientation.GyroIntegrator, orientation.DistLinAccelCF
]:
yield checkStaticConvergence, filterClass
def testDynamicConvergence():
for i in range(3):
t = np.arange(0, 10, dt)
trajectory = RandomRotationTrajectory(t)
for imp in getImplementations(orientation,
orientation.OrientationFilter):
params = filterParameters.get(imp, {})
filter = imp(initialRotation=Quaternion(),
initialTime=trajectory.startTime,
initialRotationalVelocity=trajectory.rotation(trajectory.startTime)
.rotateFrame(trajectory.rotationalVelocity(trajectory.startTime)),
**params)
if imp not in [orientation.GyroIntegrator, orientation.DistLinAccelCF]:
yield checkDynamicConvergence, filter, trajectory
def testOrientationFilters():
for i in range(3):
t = np.arange(0, 10, dt)
trajectory = RandomRotationTrajectory(t)
for imp in getImplementations(orientation,
orientation.OrientationFilter):
params = filterParameters.get(imp, {})
filter = imp(
initialTime=trajectory.startTime,
initialRotation=trajectory.rotation(trajectory.startTime),
initialRotationalVelocity=trajectory.rotation(trajectory.startTime)
.rotateFrame(trajectory.rotationalVelocity(trajectory.startTime)),
**params)
yield checkOrientationFilter, filter, trajectory
def testOrientationFilters():
for i in range(3):
t = np.arange(0, 10, dt)
trajectory = RandomRotationTrajectory(t)
for imp in getImplementations(orientation,
orientation.OrientationFilter):
params = filterParameters.get(imp, {})
filter = imp(
initialTime=trajectory.startTime,
initialRotation=trajectory.rotation(trajectory.startTime),
initialRotationalVelocity=trajectory.rotation(
trajectory.startTime).rotateFrame(
trajectory.rotationalVelocity(trajectory.startTime)),
**params)
yield checkOrientationFilter, filter, trajectory
def testDynamicConvergence():
for i in range(3):
t = np.arange(0, 10, dt)
trajectory = RandomRotationTrajectory(t)
for imp in getImplementations(orientation,
orientation.OrientationFilter):
params = filterParameters.get(imp, {})
filter = imp(initialRotation=Quaternion(),
initialTime=trajectory.startTime,
initialRotationalVelocity=trajectory.rotation(
trajectory.startTime).rotateFrame(
trajectory.rotationalVelocity(
trajectory.startTime)),
**params)
if imp not in [
orientation.GyroIntegrator, orientation.DistLinAccelCF
]:
yield checkDynamicConvergence, filter, trajectory
def testStaticConvergence():
for filterClass in getImplementations(orientation,
orientation.OrientationFilter):
if filterClass not in [orientation.GyroIntegrator,
orientation.DistLinAccelCF]:
yield checkStaticConvergence, filterClass
def testSystemSimulation():
for filterClass in getImplementations(orientation, OrientationFilter):
if filterClass is not orientation.DistLinAccelCF:
yield checkSystemSimulation, filterClass
def testSystemSimulation():
for filterClass in getImplementations(orientation, OrientationFilter):
if filterClass is not orientation.DistLinAccelCF:
yield checkSystemSimulation, filterClass
def testPositionAlgorithms():
for algorithm in getImplementations(position, position.PositionEstimator):
yield checkAlgorithm, algorithm
def testPositionAlgorithms():
for algorithm in getImplementations(position, position.PositionEstimator):
yield checkAlgorithm, algorithm
