31 lines
879 B
Python
31 lines
879 B
Python
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import math
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import unittest
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import numpy as np
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import gtsam
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class TestScenarioRunner(unittest.TestCase):
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def setUp(self):
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self.g = 10 # simple gravity constant
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def test_loop_runner(self):
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# Forward velocity 2m/s
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# Pitch up with angular velocity 6 degree/sec (negative in FLU)
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v = 2
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w = math.radians(6)
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W = np.array([0, -w, 0])
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V = np.array([v, 0, 0])
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scenario = gtsam.ConstantTwistScenario(W, V)
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dt = 0.1
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params = gtsam.PreintegrationParams.MakeSharedU(self.g)
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runner = gtsam.ScenarioRunner(gtsam.ScenarioPointer(scenario), params, dt)
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# Test specific force at time 0: a is pointing up
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t = 0.0
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a = w * v
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np.testing.assert_almost_equal(np.array([0, 0, a + self.g]), runner.actualSpecificForce(t))
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if __name__ == '__main__':
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unittest.main()
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