def test_RK4Sim(self):
# Smoke test
simDef = SimDefinition("MAPLEAF/Examples/Simulations/Wind.mapleaf",
silent=True)
simRunner = Simulation(simDefinition=simDef, silent=True)
rocket = simRunner.createRocket()
# 6-DoF time step
rocket.timeStep(0.05)
# 3-DoF time step
rocket.isUnderChute = True
rocket._switchTo3DoF()
rocket.timeStep(0.05)
def test_Initialization_Velocity(self):
# Zero velocity in launch tower frame
simDef = SimDefinition("MAPLEAF/Examples/Simulations/NASATwoStageOrbitalRocket.mapleaf", silent=True)
simDef.setValue("Rocket.velocity", "(0 0 0)")
simRunner = Simulation(simDefinition=simDef, silent=True)
rocket = simRunner.createRocket()
computedInitGlobalFrameVel = rocket.rigidBody.state.velocity
expectdedVel = Vector(0, 465.1020982258931, 0) # Earth's surface velocity at 0 lat, 0 long
assertVectorsAlmostEqual(self, computedInitGlobalFrameVel, expectdedVel)
# Velocity in the +x (East) direction in the launch tower frame
simDef.setValue("Rocket.velocity", "(1 0 0)")
simRunner = Simulation(simDefinition=simDef, silent=True)
rocket = simRunner.createRocket()
computedInitGlobalFrameVel = rocket.rigidBody.state.velocity
expectdedVel = Vector(0, 466.1020982258931, 0) # Earth's surface velocity at 0 lat, 0 long + 1m/s east
assertVectorsAlmostEqual(self, computedInitGlobalFrameVel, expectdedVel)
# Velocity in the +y (North) direction in the launch tower frame
simDef.setValue("Rocket.velocity", "(0 1 0)")
simRunner = Simulation(simDefinition=simDef, silent=True)
rocket = simRunner.createRocket()
computedInitGlobalFrameVel = rocket.rigidBody.state.velocity
expectdedVel = Vector(0, 465.1020982258931, 1) # Earth's surface velocity at 0 lat, 0 long + 1m/s north
assertVectorsAlmostEqual(self, computedInitGlobalFrameVel, expectdedVel)
# Velocity in the +z (Up) direction in the launch tower frame
simDef.setValue("Rocket.velocity", "(0 0 1)")
simRunner = Simulation(simDefinition=simDef, silent=True)
rocket = simRunner.createRocket()
computedInitGlobalFrameVel = rocket.rigidBody.state.velocity
expectdedVel = Vector(1, 465.1020982258931, 0) # Earth's surface velocity at 0 lat, 0 long + 1m/s up
assertVectorsAlmostEqual(self, computedInitGlobalFrameVel, expectdedVel)
def test_RK45AdaptSim(self):
# Smoke test
simDef = SimDefinition("MAPLEAF/Examples/Simulations/Wind.mapleaf",
silent=True)
simDef.setValue("SimControl.timeDiscretization", "RK45Adaptive")
simDef.setValue("SimControl.TimeStepAdaptation.controller", "PID")
simRunner = Simulation(simDefinition=simDef, silent=True)
rocket = simRunner.createRocket()
# 6-DoF time step
rocket.timeStep(0.05)
# 3-DoF time step
rocket.isUnderChute = True
rocket._switchTo3DoF()
rocket.timeStep(0.05)
def test_Initialization_NASASphere(self):
simRunner = Simulation("./MAPLEAF/Examples/Simulations/NASASphere.mapleaf")
sphere = simRunner.createRocket()
# Should be at an altitude of 9144 m above earth's surface
distanceFromEarthCenter = sphere.rigidBody.state.position.length()
expected = sphere.environment.earthModel.a + 9144
self.assertAlmostEqual(distanceFromEarthCenter, expected)
# Should have zero angular velocity in inertial frame
angVel = sphere.rigidBody.state.angularVelocity.length()
self.assertAlmostEqual(angVel, 0.0)
# Velocity should be zero in earth-fixed frame
rotationVel = distanceFromEarthCenter * sphere.environment.earthModel.rotationRate
inertialVel = sphere.rigidBody.state.velocity
assertVectorsAlmostEqual(self, inertialVel, Vector(0, rotationVel, 0))
def test_bodyTubeDampingMoment(self):
simRunner = Simulation("MAPLEAF/Examples/Simulations/test3.mapleaf",
silent=True)
rocket = simRunner.createRocket()
bodyTube = rocket.stages[0].getComponentsOfType(BodyTube)[0]
# Create a rigid body state rotating at 2 rad/s about the x-axis
pos = Vector(0, 0, 0)
vel = Vector(0, 0, 0)
orientation = Quaternion(1, 0, 0, 0)
angVel = AngularVelocity(2, 0, 0)
xRotatingState = RigidBodyState(pos, vel, orientation, angVel)
envConditions = rocket.environment.getAirProperties(Vector(0, 0, 0))
#### CoR = Middle of the body tube ####
fakeRocketCG = Vector(0, 0, -1.762)
# Get computed (numerically-integrated) result
calculatedDampingMoment = bodyTube._computeLongitudinalDampingMoments(
xRotatingState, envConditions, fakeRocketCG, nSegments=100)
# Compute analytical result (Niskanen Eqn 3.58) * 2 for both halves of the body tube (above and below center of rotation)
expectedXDampingMoment = 2 * 0.275 * envConditions.Density * (
bodyTube.outerDiameter / 2) * 4
expectedTotalDampingMoment = Vector(-expectedXDampingMoment, 0, 0)
# Compare
assertVectorsAlmostEqual(self, calculatedDampingMoment,
expectedTotalDampingMoment, 4)
#### Case 2: CoR at End of Body Tube ####
fakeRocketCG = Vector(0, 0, -2.762)
# Get computed (numerically-integrated) result
calculatedDampingMoment = bodyTube._computeLongitudinalDampingMoments(
xRotatingState, envConditions, fakeRocketCG, nSegments=150)
# Factor of 16 from moving to a tube length of two (2^4 = 16), but dividing by two (one half instead of two)
expectedTotalDampingMoment *= 8
# Compare
assertVectorsAlmostEqual(self, calculatedDampingMoment,
expectedTotalDampingMoment, 4)
def setup(self):
simDef = SimDefinition(
"MAPLEAF/Examples/Simulations/benchmarkSim.mapleaf")
simDef.setValue("SimControl.loggingLevel", "2")
sim = Simulation(simDefinition=simDef, silent=True)
self.rocket = sim.createRocket()
def setup(self):
simDef = SimDefinition(
"MAPLEAF/Examples/Simulations/benchmarkSim.mapleaf")
sim = Simulation(simDefinition=simDef, silent=True)
self.rocket = sim.createRocket()
def time_initializeSimulationAndRocket(self):
sim = Simulation("MAPLEAF/Examples/Simulations/benchmarkSim.mapleaf",
silent=True)
sim.createRocket()