def check_speeds(self, flight): up_direction = vector(flight.up_direction) velocity = vector(flight.velocity) vertical_speed = dot(velocity, up_direction) horizontal_speed = norm(velocity) - vertical_speed self.assertClose(norm(velocity), flight.speed, error=1) self.assertClose(horizontal_speed, flight.horizontal_speed, error=1) self.assertClose(vertical_speed, flight.vertical_speed, error=1)
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 check_direction(self, direction, pitch, heading): self.vessel.control.sas = False self.ap.set_direction(direction) while self.ap.error > 0.1: time.sleep(0.25) self.vessel.control.sas = True self.ap.disengage() # Check resulting direction vector flight = self.vessel.flight() self.assertClose(vector(direction), vector(flight.direction), error=0.1)
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 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 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_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 check_speeds(self, flight): """ Check flight.velocity agrees with flight.*_speed """ up_direction = (0,1,0) velocity = vector(flight.velocity) vertical_speed = dot(velocity, up_direction) horizontal_speed = norm(velocity) - vertical_speed self.assertClose(norm(velocity), flight.speed, error=1) self.assertClose(horizontal_speed, flight.horizontal_speed, error=1) self.assertClose(vertical_speed, flight.vertical_speed, error=1)
def test_maneuver_flight(self): # Create a node with burn vector pointing north # and check that orbital flight vectors node = self.vessel.control.add_node(self.conn.space_center.ut, 100, 0, 0) self.assertClose([ 0, 0, 100], vector(node.vector)) self.assertClose([ 0, 0, 1], vector(self.maneuver_flight.prograde), error=0.01) self.assertClose([ 0, 0, -1], vector(self.maneuver_flight.retrograde), error=0.01) self.assertClose([ 0,-1, 0], vector(self.maneuver_flight.radial), error=0.01) self.assertClose([ 0, 1, 0], vector(self.maneuver_flight.radial_neg), error=0.01) self.assertClose([ 1, 0, 0], vector(self.maneuver_flight.normal), error=0.01) self.assertClose([-1, 0, 0], vector(self.maneuver_flight.normal_neg), error=0.01) self.check_directions(self.maneuver_flight, check_against_orbital=False) self.check_speeds(self.maneuver_flight) self.check_orbital_vectors(self.maneuver_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_surface_flight(self): self.assertClose(0, self.orbital_flight.g_force) self.assertClose(100000, self.surface_flight.mean_altitude, error=50) self.assertClose(100000, self.surface_flight.surface_altitude, error=50) self.assertClose(100930, self.surface_flight.bedrock_altitude, error=50) self.assertClose(930, self.surface_flight.elevation, error=50) self.assertClose([-2042.5, 0, 0], vector(self.surface_flight.velocity), error=0.5) self.assertClose(2042.5, self.surface_flight.speed, error=0.5) self.assertClose(2042.5, self.surface_flight.horizontal_speed, error=0.5) self.assertClose(0, self.surface_flight.vertical_speed, error=0.5) self.assertClose(27, self.surface_flight.pitch, error=1) self.assertClose(116, self.surface_flight.heading, error=1) self.assertClose(39, self.surface_flight.roll, error=1) self.check_directions(self.surface_flight) self.check_speeds(self.surface_flight) self.check_orbital_vectors(self.surface_flight)
def check_orbital_vectors(self, flight): # Check orbital direction vectors prograde = vector(flight.prograde) retrograde = vector(flight.retrograde) normal = vector(flight.normal) normal_neg = vector(flight.normal_neg) radial = vector(flight.radial) radial_neg = vector(flight.radial_neg) self.assertClose(1, norm(prograde)) self.assertClose(1, norm(retrograde)) self.assertClose(1, norm(normal)) self.assertClose(1, norm(normal_neg)) self.assertClose(1, norm(radial)) self.assertClose(1, norm(radial_neg)) self.assertClose(prograde, [-x for x in retrograde], error=0.01) self.assertClose(radial, [-x for x in radial_neg], error=0.01) self.assertClose(normal, [-x for x in normal_neg], error=0.01) self.assertClose(0, dot(prograde, radial), error=0.01) self.assertClose(0, dot(prograde, normal), error=0.01) self.assertClose(0, dot(radial, normal), error=0.01)
def check_orbital_vectors(self, flight): """ Check orbital direction vectors """ prograde = vector(flight.prograde) retrograde = vector(flight.retrograde) normal = vector(flight.normal) anti_normal = vector(flight.anti_normal) radial = vector(flight.radial) anti_radial = vector(flight.anti_radial) self.assertClose(1, norm(prograde)) self.assertClose(1, norm(retrograde)) self.assertClose(1, norm(normal)) self.assertClose(1, norm(anti_normal)) self.assertClose(1, norm(radial)) self.assertClose(1, norm(anti_radial)) self.assertClose(prograde, [-x for x in retrograde], error=0.01) self.assertClose(radial, [-x for x in anti_radial], error=0.01) self.assertClose(normal, [-x for x in anti_normal], error=0.01) self.assertClose(0, dot(prograde, radial), error=0.01) self.assertClose(0, dot(prograde, normal), error=0.01) self.assertClose(0, dot(radial, normal), error=0.01)
def check_directions(self, flight, check_against_orbital=True): direction = vector(flight.direction) up_direction = vector(flight.up_direction) north_direction = vector(flight.north_direction) self.assertClose(1, norm(direction)) self.assertClose(1, norm(up_direction)) self.assertClose(1, norm(north_direction)) self.assertClose(0, dot(up_direction, north_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 = vector(direction) - up_component north_component = north_component / norm(north_component) self.assertClose(flight.heading, rad2deg(math.acos(dot(north_component, north_direction))), error=1) if check_against_orbital == True: # Check vessel directions agree with orbital directions # (we are in a 0 degree inclined orbit, so they should do) self.assertClose(1, dot(up_direction, vector(flight.radial))) self.assertClose(1, dot(north_direction, vector(flight.normal)))
def check(self, node, v): self.assertEqual(v[0], node.prograde) self.assertEqual(v[1], node.normal) self.assertEqual(v[2], node.radial) self.assertEqual([0,0,norm(v)], vector(node.vector)) self.assertEqual(norm(v), node.delta_v)