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[Jsbsim-cvslogs] CVS: JSBSim/tests TestExternalReactions.py, NONE, 1.1 CMakeLists.txt, 1.32, 1.33 jsbsim.pxd, 1.5, 1.6 jsbsim.pyx, 1.14, 1.15
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From: Bertrand <bco...@us...> - 2017-05-26 09:44:51
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Update of /cvsroot/jsbsim/JSBSim/tests In directory sfp-cvs-1.v30.ch3.sourceforge.com:/tmp/cvs-serv18951/tests Modified Files: CMakeLists.txt jsbsim.pxd jsbsim.pyx Added Files: TestExternalReactions.py Log Message: Added a new test to check external reactions --- NEW FILE --- # TestExternalReactions.py # # Regression test to check that external reactions are working correctly. # # Copyright (c) 2017 Bertrand Coconnier # # This program is free software; you can redistribute it and/or modify it under # the terms of the GNU General Public License as published by the Free Software # Foundation; either version 3 of the License, or (at your option) any later # version. # # This program is distributed in the hope that it will be useful, but WITHOUT # ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS # FOR A PARTICULAR PURPOSE. See the GNU General Public License for more # details. # # You should have received a copy of the GNU General Public License along with # this program; if not, see <http://www.gnu.org/licenses/> # import os, math import numpy as np from JSBSim_utils import JSBSimTestCase, CreateFDM, RunTest class TestExternalReactions(JSBSimTestCase): def getLeverArm(self, fdm, name): lax = (fdm['external_reactions/'+name+'/location-x-in'] - fdm['inertia/cg-x-in']) lay = (fdm['external_reactions/'+name+'/location-y-in'] - fdm['inertia/cg-y-in']) laz = (fdm['external_reactions/'+name+'/location-z-in'] - fdm['inertia/cg-z-in']) # Convert from inches in the structural frame to feet in the body frame. return np.array([-lax, lay, -laz]) * 0.08333333 def test_wind_frame(self): script_path = self.sandbox.path_to_jsbsim_file('scripts', 'ball_chute.xml') fdm = CreateFDM(self.sandbox) fdm.load_script(script_path) fdm.run_ic() self.assertAlmostEqual(fdm['external_reactions/parachute/location-x-in'], 12.0) self.assertAlmostEqual(fdm['external_reactions/parachute/location-y-in'], 0.0) self.assertAlmostEqual(fdm['external_reactions/parachute/location-z-in'], 0.0) self.assertAlmostEqual(fdm['external_reactions/parachute/x'], -1.0) self.assertAlmostEqual(fdm['external_reactions/parachute/y'], 0.0) self.assertAlmostEqual(fdm['external_reactions/parachute/z'], 0.0) while fdm.run(): Tw2b = fdm.get_auxiliary().get_Tw2b() mag = fdm['aero/qbar-psf'] * fdm['fcs/parachute_reef_pos_norm']*20.0 f = Tw2b * np.mat([-1.0, 0.0, 0.0]).T * mag self.assertAlmostEqual(fdm['forces/fbx-external-lbs'], f[0, 0]) self.assertAlmostEqual(fdm['forces/fby-external-lbs'], f[1, 0]) self.assertAlmostEqual(fdm['forces/fbz-external-lbs'], f[2, 0]) m = np.cross(self.getLeverArm(fdm,'parachute'), np.array([f[0,0], f[1,0], f[2, 0]])) self.assertAlmostEqual(fdm['moments/l-external-lbsft'], m[0]) self.assertAlmostEqual(fdm['moments/m-external-lbsft'], m[1]) self.assertAlmostEqual(fdm['moments/n-external-lbsft'], m[2]) def test_body_frame(self): fdm = CreateFDM(self.sandbox) aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft') fdm.load_model('f16') aircraft_path = os.path.join(aircraft_path, 'f16') fdm.load_ic(os.path.join(aircraft_path, 'reset00.xml'), False) fdm.run_ic() self.assertAlmostEqual(fdm['external_reactions/pushback/location-x-in'], -2.98081) self.assertAlmostEqual(fdm['external_reactions/pushback/location-y-in'], 0.0) self.assertAlmostEqual(fdm['external_reactions/pushback/location-z-in'], -1.9683) self.assertAlmostEqual(fdm['external_reactions/pushback/x'], 1.0) self.assertAlmostEqual(fdm['external_reactions/pushback/y'], 0.0) self.assertAlmostEqual(fdm['external_reactions/pushback/z'], 0.0) self.assertAlmostEqual(fdm['external_reactions/pushback/magnitude'], 0.0) self.assertAlmostEqual(fdm['external_reactions/hook/location-x-in'], 100.669) self.assertAlmostEqual(fdm['external_reactions/hook/location-y-in'], 0.0) self.assertAlmostEqual(fdm['external_reactions/hook/location-z-in'], -28.818) dx = -0.9995 dz = 0.01 fhook = np.array([dx, 0.0, dz]) fhook /= np.linalg.norm(fhook) self.assertAlmostEqual(fdm['external_reactions/hook/x'], fhook[0]) self.assertAlmostEqual(fdm['external_reactions/hook/y'], fhook[1]) self.assertAlmostEqual(fdm['external_reactions/hook/z'], fhook[2]) self.assertAlmostEqual(fdm['external_reactions/hook/magnitude'], 0.0) self.assertAlmostEqual(fdm['forces/fbx-external-lbs'], 0.0) self.assertAlmostEqual(fdm['forces/fby-external-lbs'], 0.0) self.assertAlmostEqual(fdm['forces/fbz-external-lbs'], 0.0) self.assertAlmostEqual(fdm['moments/l-external-lbsft'], 0.0) self.assertAlmostEqual(fdm['moments/m-external-lbsft'], 0.0) self.assertAlmostEqual(fdm['moments/n-external-lbsft'], 0.0) # Check the 'pushback' external force alone fdm['/sim/model/pushback/position-norm'] = 1.0 fdm['/sim/model/pushback/target-speed-fps'] = 1.0 fdm['/sim/model/pushback/kp'] = 0.05 fdm.run() fpb = np.array([1.0, 0.0, 0.0]) * 0.05 self.assertAlmostEqual(fdm['external_reactions/pushback/magnitude'], 0.05) self.assertAlmostEqual(fdm['forces/fbx-external-lbs'], fpb[0]) self.assertAlmostEqual(fdm['forces/fby-external-lbs'], fpb[1]) self.assertAlmostEqual(fdm['forces/fbz-external-lbs'], fpb[2]) m = np.cross(self.getLeverArm(fdm, 'pushback'), fpb) self.assertAlmostEqual(fdm['moments/l-external-lbsft'], m[0]) self.assertAlmostEqual(fdm['moments/m-external-lbsft'], m[1]) self.assertAlmostEqual(fdm['moments/n-external-lbsft'], m[2]) # Reset the 'pushback' external force to zero fdm['/sim/model/pushback/position-norm'] = 0.0 fdm.run() self.assertAlmostEqual(fdm['external_reactions/pushback/magnitude'], 0.0) self.assertAlmostEqual(fdm['forces/fbx-external-lbs'], 0.0) self.assertAlmostEqual(fdm['forces/fby-external-lbs'], 0.0) self.assertAlmostEqual(fdm['forces/fbz-external-lbs'], 0.0) self.assertAlmostEqual(fdm['moments/l-external-lbsft'], 0.0) self.assertAlmostEqual(fdm['moments/m-external-lbsft'], 0.0) self.assertAlmostEqual(fdm['moments/n-external-lbsft'], 0.0) # Check the 'hook' external force alone fdm['external_reactions/hook/magnitude'] = 10.0 fhook *= 10.0 fdm.run() self.assertAlmostEqual(fdm['forces/fbx-external-lbs'], fhook[0]) self.assertAlmostEqual(fdm['forces/fby-external-lbs'], fhook[1]) self.assertAlmostEqual(fdm['forces/fbz-external-lbs'], fhook[2]) m = np.cross(self.getLeverArm(fdm, 'hook'), fhook) self.assertAlmostEqual(fdm['moments/l-external-lbsft'], m[0]) self.assertAlmostEqual(fdm['moments/m-external-lbsft'], m[1]) self.assertAlmostEqual(fdm['moments/n-external-lbsft'], m[2]) # Add the 'pushback' force to the hook force and check that the global # external forces is the sum of the push back force and the hook force. fdm['/sim/model/pushback/position-norm'] = 1.0 fdm.run() fp = fdm['systems/pushback/force'] fpb = np.array([1.0, 0.0, 0.0]) * fp f = fhook + fpb self.assertAlmostEqual(fdm['external_reactions/pushback/magnitude'], fp) self.assertAlmostEqual(fdm['forces/fbx-external-lbs'], f[0]) self.assertAlmostEqual(fdm['forces/fby-external-lbs'], f[1]) self.assertAlmostEqual(fdm['forces/fbz-external-lbs'], f[2]) # Modify the push back force direction and check that the global external # force is modified accordingly. fdm['external_reactions/pushback/x'] = 1.5 fdm['external_reactions/pushback/y'] = 0.1 fdm.run() fp = fdm['systems/pushback/force'] fpb = np.array([1.5, 0.1, 0.0]) * fp f = fhook + fpb self.assertAlmostEqual(fdm['external_reactions/pushback/magnitude'], fp) self.assertAlmostEqual(fdm['forces/fbx-external-lbs'], f[0]) self.assertAlmostEqual(fdm['forces/fby-external-lbs'], f[1]) self.assertAlmostEqual(fdm['forces/fbz-external-lbs'], f[2]) m = (np.cross(self.getLeverArm(fdm, 'pushback'), fpb) + np.cross(self.getLeverArm(fdm, 'hook'), fhook)) self.assertAlmostEqual(fdm['moments/l-external-lbsft'], m[0]) self.assertAlmostEqual(fdm['moments/m-external-lbsft'], m[1]) self.assertAlmostEqual(fdm['moments/n-external-lbsft'], m[2]) fdm['external_reactions/hook/location-y-in'] = 50.0 fdm.run() fp = fdm['systems/pushback/force'] fpb = np.array([1.5, 0.1, 0.0]) * fp f = fhook + fpb self.assertAlmostEqual(fdm['external_reactions/pushback/magnitude'], fp) self.assertAlmostEqual(fdm['forces/fbx-external-lbs'], f[0]) self.assertAlmostEqual(fdm['forces/fby-external-lbs'], f[1]) self.assertAlmostEqual(fdm['forces/fbz-external-lbs'], f[2]) m = (np.cross(self.getLeverArm(fdm, 'pushback'), fpb) + np.cross(self.getLeverArm(fdm, 'hook'), fhook)) self.assertAlmostEqual(fdm['moments/l-external-lbsft'], m[0]) self.assertAlmostEqual(fdm['moments/m-external-lbsft'], m[1]) self.assertAlmostEqual(fdm['moments/n-external-lbsft'], m[2]) RunTest(TestExternalReactions) Index: CMakeLists.txt =================================================================== RCS file: /cvsroot/jsbsim/JSBSim/tests/CMakeLists.txt,v retrieving revision 1.32 retrieving revision 1.33 diff -C2 -r1.32 -r1.33 *** CMakeLists.txt 11 Mar 2017 19:21:04 -0000 1.32 --- CMakeLists.txt 26 May 2017 09:44:47 -0000 1.33 *************** *** 53,56 **** --- 53,57 ---- TestTurboProp TestEngineIndexedProps + TestExternalReactions ) Index: jsbsim.pxd =================================================================== RCS file: /cvsroot/jsbsim/JSBSim/tests/jsbsim.pxd,v retrieving revision 1.5 retrieving revision 1.6 diff -C2 -r1.5 -r1.6 *** jsbsim.pxd 11 Mar 2017 12:06:34 -0000 1.5 --- jsbsim.pxd 26 May 2017 09:44:47 -0000 1.6 *************** *** 76,79 **** --- 76,84 ---- double GetSteerNorm() + cdef extern from "models/FGAuxiliary.h" namespace "JSBSim": + cdef cppclass c_FGAuxiliary "JSBSim::FGAuxiliary": + c_FGAuxiliary(c_FGFDMExec* fdm) + c_FGMatrix33& GetTw2b() + cdef extern from "FGFDMExec.h" namespace "JSBSim": cdef cppclass c_FGFDMExec "JSBSim::FGFDMExec": *************** *** 137,138 **** --- 142,144 ---- c_FGPropertyManager* GetPropertyManager() c_FGGroundReactions* GetGroundReactions() + c_FGAuxiliary* GetAuxiliary() Index: jsbsim.pyx =================================================================== RCS file: /cvsroot/jsbsim/JSBSim/tests/jsbsim.pyx,v retrieving revision 1.14 retrieving revision 1.15 diff -C2 -r1.14 -r1.15 *** jsbsim.pyx 11 Mar 2017 12:06:34 -0000 1.14 --- jsbsim.pyx 26 May 2017 09:44:47 -0000 1.15 *************** *** 113,116 **** --- 113,128 ---- return self.thisptr.GetSteerNorm() + cdef class FGAuxiliary: + + cdef c_FGAuxiliary *thisptr + + def __init__(self): + self.thisptr = NULL + + def get_Tw2b(self): + Tw2b = FGMatrix33() + Tw2b.thisptr = new c_FGMatrix33(self.thisptr.GetTw2b()) + return convertToNumpyMat(Tw2b) + # this is the python wrapper class cdef class FGFDMExec: *************** *** 594,595 **** --- 606,612 ---- grndreact.thisptr = self.thisptr.GetGroundReactions() return grndreact + + def get_auxiliary(self): + auxiliary = FGAuxiliary() + auxiliary.thisptr = self.thisptr.GetAuxiliary() + return auxiliary |
