def test_yaw_logic(yaw, yaw_demand, expected):
init_x, init_y, init_z, init_yaw = 0,0,0,0
AUV = Vehicle(0, 1, init_x, init_y, init_z, init_yaw)
config = sim_config('config/sim_config.csv')
AUV.set_yaw(yaw)
AUV.set_yaw_demand(yaw_demand)
AUV.plant(config.time_step)
if expected ==1:
assert AUV.yaw > yaw
elif expected == 0:
assert AUV.yaw < yaw
def test_yaw_logic(yaw, yaw_demand, expected):
init_x, init_y, init_z, init_yaw = 0, 0, 0, 0
AUV = Vehicle(0, 1, init_x, init_y, init_z, init_yaw)
config = sim_config('config/sim_config.csv')
AUV.set_yaw(yaw)
AUV.set_yaw_demand(yaw_demand)
AUV.plant(config.time_step)
if expected == 1:
assert AUV.yaw > yaw
elif expected == 0:
assert AUV.yaw < yaw
def test_v(v, v_demand, expected):
AUV = Vehicle(0, 1, 0, 0, 0, 0)
config = sim_config('config/sim_config.csv')
AUV.set_v(v)
AUV.set_v_demand(v_demand)
AUV.plant(config.time_step)
if expected == 1:
# assert AUV pitches nose down
assert AUV.v > v
elif expected == 0:
# assert AUV pitches nose up
assert AUV.v < v
elif expected == 2:
# assert AUV pitches nose up
assert AUV.v == v
def test_v(v, v_demand, expected):
AUV = Vehicle(0, 1, 0, 0, 0, 0)
config = sim_config('config/sim_config.csv')
AUV.set_v(v)
AUV.set_v_demand(v_demand)
AUV.plant(config.time_step)
if expected == 1:
# assert AUV pitches nose down
assert AUV.v > v
elif expected == 0:
# assert AUV pitches nose up
assert AUV.v < v
elif expected == 2:
# assert AUV pitches nose up
assert AUV.v == v
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