add integrated test for spinningBodyTwoDOF branching

Author: andrewmorell

src/simulation/dynamics/spinningBodies/spinningBodiesTwoDOF/_UnitTest/test_spinningBodyTwoDOF_branched_integrated.py

@@ -0,0 +1,92 @@
+# ISC License
+#
+# Copyright (c) 2024, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
+#
+# Permission to use, copy, modify, and/or distribute this software for any
+# purpose with or without fee is hereby granted, provided that the above
+# copyright notice and this permission notice appear in all copies.
+#
+# THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+# WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+# MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+# ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+# WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+# ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+# OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+
+
+#
+#   Unit Test Script
+#   Module Name:        spinningBody2TwoDOF
+#   Author:             Andrew Morell
+#   Creation Date:      December 18, 2024
+#
+
+import inspect
+import os
+import pytest
+import numpy
+import matplotlib.pyplot as plt
+
+filename = inspect.getframeinfo(inspect.currentframe()).filename
+path = os.path.dirname(os.path.abspath(filename))
+splitPath = path.split('simulation')
+
+from Basilisk.utilities import SimulationBaseClass, unitTestSupport, macros
+from Basilisk.simulation import spacecraft, spinningBodyTwoDOFStateEffector, gravityEffector
+from Basilisk.architecture import messaging
+
+
+# uncomment this line is this test is to be skipped in the global unit test run, adjust message as needed
+# @pytest.mark.skipif(conditionstring)
+# uncomment this line if this test has an expected failure, adjust message as needed
+# @pytest.mark.xfail() # need to update how the RW states are defined
+# provide a unique test method name, starting with test_
+
+@pytest.mark.parametrize("cmdTorque1, lock1, theta1Ref, cmdTorque2, lock2, theta2Ref", [
+    (0.0, False, 0.0, 0.0, False, 0.0)
+    , (0.0, True, 0.0, 0.0, False, 0.0)
+    , (0.0, False, 0.0, 0.0, True, 0.0)
+    , (0.0, True, 0.0, 0.0, True, 0.0)
+    , (1.0, False, 0.0, -2.0, False, 0.0)
+    , (0.0, False, 10.0 * macros.D2R, 0.0, False, -5.0 * macros.D2R)
+    , (0.0, False, -5.0 * macros.D2R, 0.0, False, 10.0 * macros.D2R)
+])
+def test_spinningBody(show_plots, cmdTorque1, lock1, theta1Ref, cmdTorque2, lock2, theta2Ref):
+    r"""
+    **Validation Test Description**
+    This integrated test checks the functionality of attaching a dynamic effector onto a spinningBodyTwoDOF such that
+    spinningBodyTwoDOF is the dynamical parent rather than the hub. Note that this can also be done in some cases using
+    the messaging system (see test_thruster_dynamics_attached_body.py) but is done here using the dynParamManager to
+    achieve time varying motion with respect to the hub, two-way dynamical coupling, and sub-integration timestep
+    resolution.
+
+    The integrated test sets up an extForceTorque dynamic effector as normal, but then converts the direction and
+    location to take into account being in the spinningBodyTwoDOF local body. The extForceTorque effector is set to
+    apply a force and torque for the first half of the simulation, and then turn off.
+
+
+
+
+    As with the other tests, the expected forces and torques are compared with the values from the module to check that
+    everything matches accordingly.
+
+    This unit test sets up a spacecraft with a single-axis rotating rigid body attached to a rigid hub. The spinning
+    body's center of mass is off-center from the spinning axis and the position of the axis is arbitrary. The scenario
+    includes gravity acting on both the spacecraft and the effector.
+
+    **Description of Variables Being Tested**
+
+    In this file we are checking the principles of conservation of energy and angular momentum. Both the orbital and
+    rotational energy and angular momentum must be maintained when conservative forces like gravity are present.
+    Therefore, the values of the variables
+
+    - ``finalOrbAngMom``
+    - ``finalOrbEnergy``
+    - ``finalRotAngMom``
+    - ``finalRotEnergy``
+
+    against their initial values.
+    """
+    [testResults, testMessage] = spinningBody(show_plots, cmdTorque1, lock1, theta1Ref, cmdTorque2, lock2, theta2Ref)
+    assert testResults < 1, testMessage