def test_pitch_demand(start, target, expected):
# (self,i, Swarm_Size, start_x, start_y, start_z, start_yaw)
AUV = Vehicle(0, 1, start[0], start[1], start[2], 0)
config = sim_config('config/sim_config.csv')
AUV.waypoints = [target]
AUV.move_to_waypoint()
assert abs(AUV.pitch_demand - expected) < 0.0000001
def test_yaw_demand(target, expected):
# (self,i, Swarm_Size, start_x, start_y, start_z, start_yaw)
AUV = Vehicle(0, 1, 0, 0, 0, 0)
config = sim_config('config/sim_config.csv')
AUV.waypoints = [target]
AUV.move_to_waypoint()
assert AUV.yaw_demand == expected
def test_reached_waypoint():
# (self,i, Swarm_Size, start_x, start_y, start_z, start_yaw)
AUV = Vehicle(0, 1, 50, 50,-10 , 0)
config = sim_config('config/sim_config.csv')
AUV.state = 0
# AUV at 1m depth and surfacing
AUV.waypoints = [[50,50,-20]]
AUV.move_to_waypoint()
assert AUV.state == 0
AUV.z = -19
AUV.move_to_waypoint()
assert AUV.state == 1
def test_reached_waypoint():
# (self,i, Swarm_Size, start_x, start_y, start_z, start_yaw)
AUV = Vehicle(0, 1, 50, 50, -10, 0)
config = sim_config('config/sim_config.csv')
AUV.state = 0
# AUV at 1m depth and surfacing
AUV.waypoints = [[50, 50, -20]]
AUV.move_to_waypoint()
assert AUV.state == 0
AUV.z = -19
AUV.move_to_waypoint()
assert AUV.state == 1
def test_pitch(start_loc, wayp, expected):
AUV = Vehicle(0, 1, start_loc[0], start_loc[1], start_loc[2], 0)
config = sim_config('config/sim_config.csv')
AUV.waypoints = [wayp]
AUV.current_waypoint = 0
AUV.move_to_waypoint()
AUV.plant(config.time_step)
if expected == 1:
# assert AUV pitches nose down
assert AUV.pitch > 0
elif expected == 0:
# assert AUV pitches nose up
assert AUV.pitch < 0
elif expected == 2:
# assert AUV pitches nose up
assert AUV.pitch == 0
def test_pitch(start_loc, wayp, expected):
AUV = Vehicle(0, 1, start_loc[0], start_loc[1], start_loc[2], 0)
config = sim_config('config/sim_config.csv')
AUV.waypoints = [wayp]
AUV.current_waypoint = 0
AUV.move_to_waypoint()
AUV.plant(config.time_step)
if expected == 1:
# assert AUV pitches nose down
assert AUV.pitch > 0
elif expected == 0:
# assert AUV pitches nose up
assert AUV.pitch < 0
elif expected == 2:
# assert AUV pitches nose up
assert AUV.pitch == 0
def test_waypoint_sequence():
AUV = Vehicle(0, 1, 50, 50, -49, 0)
config = sim_config('config/sim_config.csv')
AUV.waypoints = [[50,50,-50],[100,100,0]]
AUV.move_to_waypoint()
assert AUV.current_waypoint == 1
