Merge pull request #37 from ISSUIUC/AV-1010

Av 1010 - Unit Tests

Simulation/6DOF_RK4/unit_testing/forces_test.py

@@ -0,0 +1,133 @@
+'''
+Creates a local copy of get_force and calls get_force to compare to known outputs in forces.py using rudimentary values. 
+'''
+import numpy as np
+import sys
+import os
+import math
+sys.path.insert(0, os.path.abspath(
+    os.path.join(os.path.dirname(__file__), '..')))
+import dynamics.forces as forces 
+import dynamics.rocket as rocket_model
+import environment.atmosphere as atmosphere
+import dynamics.motor as mot
+import util.vectors as vct
+import pandas as pd
+import properties.properties as prop
+
+# Defining neccessary variables  
+cm = np.array([3.34-2.31, 0., 0.])
+cp = np.array([3.34-2.71, 0., 0.])
+rocket_dry_mass = 14.691
+r_r = 0.0508
+l = 3.34
+A = math.pi*r_r**2
+A_s = 2*r_r*l
+max_ext_length = .0178
+rasaero_file_location = os.path.join(os.path.dirname(__file__), prop.rasaero_lookup_file)
+rasaero = pd.read_csv(rasaero_file_location)
+
+# Create instances of neccessary objects to run get_force 
+rocket = rocket_model.Rocket()
+atm = atmosphere.Atmosphere() 
+motor = rocket.motor
+forces = forces.Forces(max_ext_length,cm,cp,A,A_s,rocket_dry_mass,motor,atm)
+# Local "get_force copy" --> Designed to execute functions called within get_force
+def get_force(x_state, flap_ext, time_stamp, density_noise=False) -> np.ndarray:
+    alt = x_state.copy()[0,0]
+    density = atm.get_density(alt, noise=density_noise, position=x_state[0])
+    thrust = motor.get_thrust(time_stamp)
+    wind_vector = atm.get_wind_vector(time_stamp)
+    alpha = forces.get_alpha(x_state, wind_vector)
+    test_get_alpha(alpha)
+    drag = forces.aerodynamic_force(x_state, density, wind_vector, alpha, rasaero, thrust.dot(thrust) > 0, flap_ext) 
+    values = forces.get_Ca_Cn_Cp(x_state, alpha, rasaero, thrust.dot(thrust) > 0, flap_ext)
+    test_get_Ca_Cn_Cp(values)
+    test_aerodynamic_force(drag)
+    grav =  forces.gravitational_force(alt, time_stamp)
+    test_gravitational_force(grav)
+    force = vct.body_to_world(*x_state[2],thrust + drag) + grav
+    moment = vct.body_to_world(*x_state[2], np.cross(-cm, thrust) + forces.aerodynamic_moment(drag))
+    return np.array([force, moment]), alpha
+
+# "get_force" from dynamics.forces
+def test_get_force():
+    #Initiallized Values (Random Values) (Working values of get_force as of 09/15/23)
+    arr = np.array([[2,2,2],[2,2,2], [2,2,2]])
+    answer = forces.get_force(arr, 0.015, 100.1)
+    temp = get_force(arr, 0.015, 100.1)
+    test_answer = np.array([[-152.8198926,-2.29827,-0.80334082],[0.74368931,-3.41707564,1.56364289]])
+
+    #Testing output of get_force function
+    # True --> the same 7-decimal points
+    # False --> otherwise 
+    test_array_component = True
+    for i in range(0,np.size(answer[0],0)):
+        for k in range(0, np.size(answer[0], 1)):
+            boolean = (round(test_answer[i][k], 7) == round(answer[0][i][k], 7))
+            if (boolean == False):
+                test_array_component = False
+
+    test_float_component = answer[1] == 0.9553166181245089
+    response = (test_array_component and test_float_component)
+    if response:
+        return "PASSED --> [get_force]"
+    else:
+        return "FAILED --> [get_force]"
+
+# "aerodynamic_force" from dynamics.forces
+def test_aerodynamic_force(var):
+    test_answer = np.array([0.06389041, -2.12639454, -8.94960151])
+    passed = True 
+    for i in range(0,3):
+        if round(var[i], 7) != round(test_answer[i], 7):
+            passed = False; 
+    if passed:
+        print("PASSED --> [aerodynamic_force]")
+    else:
+        print("FAILED --> [aerodynamic_force]")   
+
+# "get_alpha" from dynamics.forces 
+def test_get_alpha(var):
+    answer = 0.9553166181245089
+    if round(var, 7) == round(answer, 7):
+        print("PASSED --> [get_alpha]")
+    else:
+        print("FAILED --> [get_alpha]")
+
+# "gravitational_force" from dynamics.forces
+def test_gravitational_force(var):
+    answer = np.array([-143.94895119,0,0])
+    response = True
+    for i in range (0,3):
+        if round(var[i], 7) != round(answer[i], 7):
+            response = False
+    if response:
+        print("PASSED --> [gravitational_force]")
+    else: 
+        print("FAILED --> [gravitational_force]")
+
+def test_get_Ca_Cn_Cp(var):
+    answer0 = 2.59
+    answer1 = 10.72
+    answer2 = np.array([1.06356,0,0])
+    response = True
+    if (var[0] != answer0 or var[1] != answer1):
+        response = False
+        print("Fload Component Failed")
+    if (not (np.allclose(answer2, var[2],0.00000001))):
+        response = False
+        print("Array Component Failed")
+    if (response):
+        print("PASSED --> [get_Ca_Cn_Cp]")
+    else:
+        print("FAILED --> [get_Ca_Cn_Cp]")
+
+
+
+
+# Testing Input
+
+print("--------------- \n Test Results | \n---------------")
+print(test_get_force())
+