def test_normalize(self):
self.assertAlmostEqual((1, 0, 0), normalize((1, 0, 0)))
self.assertAlmostEqual((1, 0, 0), normalize((2, 0, 0)))
self.assertAlmostEqual((1 / math.sqrt(2), 1 / math.sqrt(2), 0),
normalize((1, 1, 0)))
self.assertAlmostEqual((1 / math.sqrt(2), 0, 1 / math.sqrt(2)),
normalize((1, 0, 1)))
def check(self, node, delta_v):
self.assertAlmostEqual(delta_v[0], node.prograde, places=3)
self.assertAlmostEqual(delta_v[1], node.normal, places=3)
self.assertAlmostEqual(delta_v[2], node.radial, places=3)
self.assertAlmostEqual(norm(delta_v), node.delta_v, places=3)
self.assertAlmostEqual(norm(delta_v),
node.remaining_delta_v,
delta=0.2)
bv = node.burn_vector(node.reference_frame)
self.assertAlmostEqual(norm(delta_v), norm(bv), places=3)
self.assertAlmostEqual((0, 1, 0), normalize(bv), places=3)
orbital_bv = node.burn_vector(node.orbital_reference_frame)
self.assertAlmostEqual(norm(delta_v), norm(orbital_bv), places=3)
self.assertAlmostEqual((-delta_v[2], delta_v[0], delta_v[1]),
orbital_bv,
places=3)
direction = node.direction(node.reference_frame)
self.assertAlmostEqual((0, 1, 0), direction, places=3)
orbital_direction = node.direction(node.orbital_reference_frame)
self.assertAlmostEqual(normalize(
(-delta_v[2], delta_v[0], delta_v[1])),
orbital_direction,
places=3)
def test_normalize(self):
self.assertAlmostEqual((1, 0, 0), normalize((1, 0, 0)))
self.assertAlmostEqual((1, 0, 0), normalize((2, 0, 0)))
self.assertAlmostEqual((1/math.sqrt(2), 1/math.sqrt(2), 0),
normalize((1, 1, 0)))
self.assertAlmostEqual((1/math.sqrt(2), 0, 1/math.sqrt(2)),
normalize((1, 0, 1)))
def test_set_magnitude(self):
node = self.control.add_node(self.space_center.ut, 1, -2, 3)
magnitude = 128
node.delta_v = magnitude
delta_v = vector(normalize((1, -2, 3))) * magnitude
self.check(node, delta_v)
node.remove()
def test_move_backward(self):
self.control = self.space_center.active_vessel.control
# Check the rover is stationary
self.assertAlmostEqual(0, self.flight.horizontal_speed, delta=0.01)
# Reverse throttle for 1 second
self.control.wheel_steer = 0
self.control.wheel_throttle = -0.5
self.control.brakes = False
self.wait(1)
# Check the rover is moving south
self.assertGreater(self.flight.horizontal_speed, 0)
direction = normalize(self.flight.velocity)
# In the body's reference frame, y-axis points
# from the CoM to the north pole
# As we are close to the equator,
# this is very close to the north direction
self.assertAlmostEqual((0, -1, 0), direction, delta=0.2)
# Apply brakes
self.control.wheel_throttle = 0.0
self.control.brakes = True
# Wait until the rover has stopped
while self.flight.speed > 0.005:
self.wait()
def test_set_magnitude(self):
node = self.control.add_node(self.space_center.ut, 1, -2, 3)
magnitude = 128
node.delta_v = magnitude
delta_v = vector(normalize((1, -2, 3))) * magnitude
self.check(node, delta_v)
node.remove()
def test_move_backward(self):
self.control = self.space_center.active_vessel.control
# Check the rover is stationary
self.assertAlmostEqual(0, self.flight.horizontal_speed, delta=0.01)
# Reverse throttle for 1 second
self.control.wheel_steer = 0
self.control.wheel_throttle = -0.5
self.control.brakes = False
self.wait(1)
# Check the rover is moving south
self.assertGreater(self.flight.horizontal_speed, 0)
direction = normalize(self.flight.velocity)
# In the body's reference frame, y-axis points
# from the CoM to the north pole
# As we are close to the equator,
# this is very close to the north direction
self.assertAlmostEqual((0, -1, 0), direction, delta=0.2)
# Apply brakes
self.control.wheel_throttle = 0.0
self.control.brakes = True
# Wait until the rover has stopped
while self.flight.speed > 0.005:
self.wait()
def test_set_direction(self):
cases = [(1, 0, 0), (0, 1, 0), (0, 0, 1), (-1, 0, 0), (0, -1, 0),
(0, 0, -1), (1, 2, 3)]
for direction in cases:
direction = normalize(direction)
self.set_direction(direction)
self.wait_for_autopilot()
self.check_direction(direction)
def test_angular_velocity(self):
for body in self.space_center.bodies.values():
# Check body's angular velocity relative to itself is zero
av = body.angular_velocity(body.reference_frame)
self.assertAlmostEqual((0, 0, 0), av)
# Check body's angular velocity relative to it's own non-rotating reference frame
av = body.angular_velocity(body.non_rotating_reference_frame)
self.assertAlmostEqual((0, -1, 0), normalize(av))
self.assertAlmostEqual(body.rotational_speed, norm(av))
def check(self, node, delta_v):
self.assertAlmostEqual(delta_v[0], node.prograde, places=3)
self.assertAlmostEqual(delta_v[1], node.normal, places=3)
self.assertAlmostEqual(delta_v[2], node.radial, places=3)
self.assertAlmostEqual(norm(delta_v), node.delta_v, places=3)
self.assertAlmostEqual(norm(delta_v), node.remaining_delta_v, delta=0.2)
bv = node.burn_vector(node.reference_frame)
self.assertAlmostEqual(norm(delta_v), norm(bv), places=3)
self.assertAlmostEqual((0, 1, 0), normalize(bv), places=3)
orbital_bv = node.burn_vector(node.orbital_reference_frame)
self.assertAlmostEqual(norm(delta_v), norm(orbital_bv), places=3)
self.assertAlmostEqual((-delta_v[2], delta_v[0], delta_v[1]), orbital_bv, places=3)
direction = node.direction(node.reference_frame)
self.assertAlmostEqual((0, 1, 0), direction, places=3)
orbital_direction = node.direction(node.orbital_reference_frame)
self.assertAlmostEqual(normalize((-delta_v[2], delta_v[0], delta_v[1])), orbital_direction, places=3)
def test_set_direction_and_roll(self):
cases = [((1, 1, 0), 23), ((0, 1, 1), -75), ((1, 0, 1), 14),
((-1, 0, 1), -83), ((0, -1, 1), -11), ((1, 0, -1), 2),
((1, 2, 3), 42)]
for direction, roll in cases:
direction = normalize(direction)
self.set_direction(direction, roll)
self.wait_for_autopilot()
self.check_direction(direction, roll)
def test_angular_velocity(self):
for body in self.space_center.bodies.values():
# Check body's angular velocity relative to itself is zero
av = body.angular_velocity(body.reference_frame)
self.assertAlmostEqual((0, 0, 0), av)
# Check body's angular velocity relative to it's own non-rotating reference frame
av = body.angular_velocity(body.non_rotating_reference_frame)
self.assertAlmostEqual((0, -1, 0), normalize(av))
self.assertAlmostEqual(body.rotational_speed, norm(av))
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.assertAlmostEqual(speed, flight.speed, delta=0.5)
self.assertAlmostEqual(vertical_speed, flight.vertical_speed, delta=0.5)
self.assertAlmostEqual(horizontal_speed, flight.horizontal_speed, delta=0.5)
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.assertAlmostEqual(speed, flight.speed, delta=0.5)
self.assertAlmostEqual(vertical_speed,
flight.vertical_speed, delta=0.5)
self.assertAlmostEqual(horizontal_speed,
flight.horizontal_speed, delta=0.5)
def test_set_direction_and_roll(self):
cases = [
((1, 1, 0), 23),
((0, 1, 1), -75),
((1, 0, 1), 14),
((-1, 0, 1), -83),
((0, -1, 1), -11),
((1, 0, -1), 2),
((1, 2, 3), 42)
]
for direction, roll in cases:
direction = normalize(direction)
self.set_direction(direction, roll)
self.wait_for_autopilot()
self.check_direction(direction, roll)
def test_set_direction(self):
cases = [
(1, 0, 0),
(0, 1, 0),
(0, 0, 1),
(-1, 0, 0),
(0, -1, 0),
(0, 0, -1),
(1, 2, 3)
]
for direction in cases:
direction = normalize(direction)
self.set_direction(direction)
self.wait_for_autopilot()
self.check_direction(direction)
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.assertAlmostEqual(1, norm(direction))
# Check vessel direction vector agrees with pitch angle
pitch = 90 - rad2deg(math.acos(dot(up_direction, direction)))
self.assertAlmostEqual(pitch, flight.pitch, delta=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.assertDegreesAlmostEqual(
rad2deg(math.acos(dot(north_component, north_direction))),
flight.heading, delta=1)
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 = 2245.75
self.assertAlmostEqual(speed, norm(flight.velocity), delta=0.5)
position = self.vessel.position(ref)
direction = vector(cross(normalize(position), (0, 1, 0)))
velocity = direction * speed
self.assertAlmostEqual(tuple(velocity), flight.velocity, delta=2)
self.assertAlmostEqual(speed, flight.speed, delta=0.5)
self.assertAlmostEqual(speed, flight.horizontal_speed, delta=0.5)
self.assertAlmostEqual(0, flight.vertical_speed, delta=0.5)
self.check_speeds(flight)
self.check_orbital_vectors(flight)
def test_transform_direction_same_reference_frame(self):
direction = normalize((1, 2, 3))
self.assertAlmostEqual(
direction,
self.sc.transform_direction(direction, self.ref_vessel,
self.ref_vessel))
def test_transform_direction_same_reference_frame(self):
direction = normalize((1, 2, 3))
self.assertAlmostEqual(
direction,
self.sc.transform_direction(
direction, self.ref_vessel, self.ref_vessel))
