Add surface to buoyant_tethys #161
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Currently, the `LrauvTestFixture` allows us to only load `BuoyantTethys.sdf`. This PR refactors the test fixture. It creates two test classes: * `LrauvTestFixtureBase` - An abstract base class which contains all the common functionality. * `LrauvTestFixture` - Inherits from `LrauvTestFixtureBase` and loads the `buoyant_tethys.sdf`. Signed-off-by: Arjo Chakravarty <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
Depends on #160 This PR adds a surface at z=0 to the default `buoyant_tethy.sdf`. Most things work as expected. I had to move the MassShifter test deeper underwater as the vehicle would not pitch enough at the surface (kind of expected I guess?). I moved the mass shifter test deeper under water. Signed-off-by: Arjo Chakravarty <[email protected]>
arjo129
added a commit
that referenced
this pull request
Feb 28, 2022
Depends on #161, #160 This PR validates the behaviour of the dropweight with the surface of the water. It modifies the drop weight test such that the vehicle is started at a 10m depth and we monitor its rise. The test makes sure that we do not exceed a height of 0.5m (this tolerance is required to account for the oscillations introduces by the transition). Signed-off-by: Arjo Chakravarty <[email protected]>
This was referenced Feb 28, 2022
Closed
Signed-off-by: Arjo Chakravarty <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Depends on #160
This PR adds a surface at z=0 to the default
buoyant_tethy.sdf. Most things work as expected. I had to move the MassShifter test deeper underwater as the vehicle would not pitch enough at the surface (kind of expected I guess?). I moved the mass shifter test deeper underwater.Signed-off-by: Arjo Chakravarty [email protected]