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_pitch_yaw(z, yaw, pitch, expected):
init_x, init_y = 0,0
# (self,i, Swarm_Size, start_x, start_y, start_z, start_yaw)
AUV = Vehicle(0, 1, init_x, init_y, z, yaw)
config = sim_config('config/sim_config.csv')
AUV.set_yaw(yaw)
AUV.set_pitch(pitch)
AUV.dead_reckoner(config.time_step)
x = expected[0]
y = expected[1]
z = expected[2]
assert abs(AUV.x - x) < 0.0000001
assert abs(AUV.y - y) < 0.0000001
assert abs(AUV.z - z) < 0.0000001
def test_pitch_yaw(z, yaw, pitch, expected):
init_x, init_y = 0, 0
# (self,i, Swarm_Size, start_x, start_y, start_z, start_yaw)
AUV = Vehicle(0, 1, init_x, init_y, z, yaw)
config = sim_config('config/sim_config.csv')
AUV.set_yaw(yaw)
AUV.set_pitch(pitch)
AUV.dead_reckoner(config.time_step)
x = expected[0]
y = expected[1]
z = expected[2]
assert abs(AUV.x - x) < 0.0000001
assert abs(AUV.y - y) < 0.0000001
assert abs(AUV.z - z) < 0.0000001