test_robust_ddp_actuation.TestActuation Class Reference

Inheritance diagram for test_robust_ddp_actuation.TestActuation:

Collaboration diagram for test_robust_ddp_actuation.TestActuation:

Public Member Functions
	setUp (self)
	test_quantize_duty (self)
	test_enforce_dwell_satisfied (self)
	test_enforce_dwell_not_satisfied (self)
	test_enforce_dwell_no_change (self)
	test_binary_actuation_threshold (self)
	test_binary_actuation_sigma_delta (self)
	test_compute_actuation_pwm (self)
	test_compute_actuation_binary (self)
	test_compute_actuation_dwell_enforcement (self)
	test_compute_actuation_dwell_satisfied (self)
	test_update_state_dwell_timers (self)
	test_create_duty_grid (self)
	test_quantize_duty_edge_cases (self)
	test_compute_actuation_clamping (self)

Public Attributes
	cfg
	state

Detailed Description

Test actuation command generation.

Definition at line 19 of file test_robust_ddp_actuation.py.

Member Function Documentation

setUp()

test_robust_ddp_actuation.TestActuation.setUp

(

self

)

Set up test fixtures.

Definition at line 22 of file test_robust_ddp_actuation.py.

test_binary_actuation_sigma_delta()

test_robust_ddp_actuation.TestActuation.test_binary_actuation_sigma_delta

(

self

)

Test binary actuation with sigma-delta modulation.

Definition at line 118 of file test_robust_ddp_actuation.py.

References engine.control.robust_ddp.controller.RobustDDPController.cfg, engine.control.robust_ddp.identify.ParameterIdentifier.cfg, payload.cold_gas_thruster.ColdGasThruster.cfg, and cfg.

test_binary_actuation_threshold()

test_robust_ddp_actuation.TestActuation.test_binary_actuation_threshold

(

self

)

Test binary actuation with threshold method.

Definition at line 107 of file test_robust_ddp_actuation.py.

References engine.control.robust_ddp.controller.RobustDDPController.cfg, engine.control.robust_ddp.identify.ParameterIdentifier.cfg, payload.cold_gas_thruster.ColdGasThruster.cfg, and cfg.

test_compute_actuation_binary()

test_robust_ddp_actuation.TestActuation.test_compute_actuation_binary

(

self

)

Test compute_actuation with binary backend.

Definition at line 167 of file test_robust_ddp_actuation.py.

References engine.control.robust_ddp.controller.RobustDDPController.cfg, engine.control.robust_ddp.identify.ParameterIdentifier.cfg, payload.cold_gas_thruster.ColdGasThruster.cfg, cfg, anonymous_namespace{idle_e2e.cpp}::Beat.state, anonymous_namespace{idle_e2e.cpp}::World.state, battery_t.state, daqtest::Burst.state, detail::serializer< BasicJsonType >.state, engine.control.robust_ddp.controller.RobustDDPController.state, feedtwin.session.core.BottleSim.state, feedtwin.session.core.Session.state, feedtwin.session.core.TankSim.state, feedtwin.session.network_trace.NetworkTrace.state, fsw::config::FireConfig.state, gnss_core_t.state, gnss_frame_parser_t.state, SensorHotfire::CoreState.state, sequencer::DynamicState.state, state, Valve.state, and world_t.state.

test_compute_actuation_clamping()

test_robust_ddp_actuation.TestActuation.test_compute_actuation_clamping

(

self

)

Test compute_actuation clamps inputs.

Definition at line 293 of file test_robust_ddp_actuation.py.

References engine.control.robust_ddp.controller.RobustDDPController.cfg, engine.control.robust_ddp.identify.ParameterIdentifier.cfg, payload.cold_gas_thruster.ColdGasThruster.cfg, cfg, anonymous_namespace{idle_e2e.cpp}::Beat.state, anonymous_namespace{idle_e2e.cpp}::World.state, battery_t.state, daqtest::Burst.state, detail::serializer< BasicJsonType >.state, engine.control.robust_ddp.controller.RobustDDPController.state, feedtwin.session.core.BottleSim.state, feedtwin.session.core.Session.state, feedtwin.session.core.TankSim.state, feedtwin.session.network_trace.NetworkTrace.state, fsw::config::FireConfig.state, gnss_core_t.state, gnss_frame_parser_t.state, SensorHotfire::CoreState.state, sequencer::DynamicState.state, state, Valve.state, and world_t.state.

test_compute_actuation_dwell_enforcement()

test_robust_ddp_actuation.TestActuation.test_compute_actuation_dwell_enforcement

(

self

)

Test compute_actuation enforces dwell time.

Definition at line 190 of file test_robust_ddp_actuation.py.

References engine.control.robust_ddp.controller.RobustDDPController.cfg, engine.control.robust_ddp.identify.ParameterIdentifier.cfg, payload.cold_gas_thruster.ColdGasThruster.cfg, and cfg.

test_compute_actuation_dwell_satisfied()

test_robust_ddp_actuation.TestActuation.test_compute_actuation_dwell_satisfied

(

self

)

Test compute_actuation allows change when dwell satisfied.

Definition at line 213 of file test_robust_ddp_actuation.py.

References engine.control.robust_ddp.controller.RobustDDPController.cfg, engine.control.robust_ddp.identify.ParameterIdentifier.cfg, payload.cold_gas_thruster.ColdGasThruster.cfg, and cfg.

test_compute_actuation_pwm()

test_robust_ddp_actuation.TestActuation.test_compute_actuation_pwm

(

self

)

Test compute_actuation with PWM backend.

Definition at line 138 of file test_robust_ddp_actuation.py.

References engine.control.robust_ddp.controller.RobustDDPController.cfg, engine.control.robust_ddp.identify.ParameterIdentifier.cfg, payload.cold_gas_thruster.ColdGasThruster.cfg, cfg, anonymous_namespace{idle_e2e.cpp}::Beat.state, anonymous_namespace{idle_e2e.cpp}::World.state, battery_t.state, daqtest::Burst.state, detail::serializer< BasicJsonType >.state, engine.control.robust_ddp.controller.RobustDDPController.state, feedtwin.session.core.BottleSim.state, feedtwin.session.core.Session.state, feedtwin.session.core.TankSim.state, feedtwin.session.network_trace.NetworkTrace.state, fsw::config::FireConfig.state, gnss_core_t.state, gnss_frame_parser_t.state, SensorHotfire::CoreState.state, sequencer::DynamicState.state, state, Valve.state, and world_t.state.

test_create_duty_grid()

test_robust_ddp_actuation.TestActuation.test_create_duty_grid

(

self

)

Test duty grid creation.

Definition at line 264 of file test_robust_ddp_actuation.py.

test_enforce_dwell_no_change()

test_robust_ddp_actuation.TestActuation.test_enforce_dwell_no_change

(

self

)

Test dwell enforcement when control unchanged.

Definition at line 90 of file test_robust_ddp_actuation.py.

test_enforce_dwell_not_satisfied()

test_robust_ddp_actuation.TestActuation.test_enforce_dwell_not_satisfied

(

self

)

Test dwell enforcement when dwell time is not satisfied.

Definition at line 73 of file test_robust_ddp_actuation.py.

test_enforce_dwell_satisfied()

test_robust_ddp_actuation.TestActuation.test_enforce_dwell_satisfied

(

self

)

Test dwell enforcement when dwell time is satisfied.

Definition at line 56 of file test_robust_ddp_actuation.py.

test_quantize_duty()

test_robust_ddp_actuation.TestActuation.test_quantize_duty

(

self

)

Test duty quantization.

Definition at line 36 of file test_robust_ddp_actuation.py.

test_quantize_duty_edge_cases()

test_robust_ddp_actuation.TestActuation.test_quantize_duty_edge_cases

(

self

)

Test duty quantization edge cases.

Definition at line 280 of file test_robust_ddp_actuation.py.

test_update_state_dwell_timers()

test_robust_ddp_actuation.TestActuation.test_update_state_dwell_timers

(

self

)

Test updating dwell timers in state.

Definition at line 235 of file test_robust_ddp_actuation.py.

Member Data Documentation

cfg

test_robust_ddp_actuation.TestActuation.cfg

Initial value:

=  ControllerConfig(
            N=10,
            dt=0.01,
            dwell_time=0.05,  # 50 ms minimum dwell
            duty_quantization=0.01,  # 1% steps
        )

Definition at line 24 of file test_robust_ddp_actuation.py.

Referenced by test_robust_ddp_controller_integration.TestControllerIntegration._simulate_dynamics(), test_combustion_stability_audit.TestIntegration.test_acoustic_report_only_by_default(), test_robust_ddp_reference.TestReferenceGeneration.test_altitude_command(), test_robust_ddp_reference.TestReferenceGeneration.test_altitude_command_below_goal(), test_binary_actuation_sigma_delta(), test_binary_actuation_threshold(), test_robust_ddp_reference.TestReferenceGeneration.test_build_reference_altitude_mode(), test_robust_ddp_reference.TestReferenceGeneration.test_build_reference_slew_rate(), test_robust_ddp_reference.TestReferenceGeneration.test_build_reference_thrust_mode(), test_combustion_stability_audit.TestIntegration.test_chug_gate_is_the_gain_margin_band_minimum(), test_robust_ddp_safety_filter.TestSafetyFilter.test_compute_action_cost(), test_compute_actuation_binary(), test_compute_actuation_clamping(), test_compute_actuation_dwell_enforcement(), test_compute_actuation_dwell_satisfied(), test_compute_actuation_pwm(), test_robust_ddp_controller_integration.TestControllerIntegration.test_controller_integration(), test_robust_ddp_reference.TestReferenceGeneration.test_estimate_thrust_bounds(), test_robust_ddp_safety_filter.TestSafetyFilter.test_filter_action_clamping(), test_robust_ddp_safety_filter.TestSafetyFilter.test_filter_action_safe(), test_robust_ddp_safety_filter.TestSafetyFilter.test_filter_action_unsafe_mr(), test_robust_ddp_safety_filter.TestSafetyFilter.test_filter_action_unsafe_ullage(), test_robust_ddp_safety_filter.TestSafetyFilter.test_find_best_safe_action(), test_robust_ddp_ddp_solver.TestDDPSolver.test_forward_rollout(), test_robust_ddp_safety_filter.TestSafetyFilter.test_generate_action_candidates(), test_robust_ddp_identify.TestParameterIdentification.test_get_params(), test_robust_ddp_identify.TestParameterIdentification.test_identify_alpha_F(), test_robust_ddp_identify.TestParameterIdentification.test_identify_alpha_O(), test_robust_ddp_identify.TestParameterIdentification.test_identify_copv_coefficients(), test_robust_ddp_identify.TestParameterIdentification.test_identify_tau_line_F(), test_robust_ddp_identify.TestParameterIdentification.test_identify_tau_line_O(), test_combustion_stability_audit.TestIntegration.test_missing_injector_drop_is_recorded_and_zero_is_zero(), test_combustion_stability_audit.TestIntegration.test_model_error_fails_closed(), test_robust_ddp_identify.TestParameterIdentification.test_parameter_bounds(), test_robust_ddp_reference.TestReferenceGeneration.test_project_thrust_bounds(), test_robust_ddp_reference.TestReferenceGeneration.test_project_thrust_slew_rate(), test_robust_ddp_ddp_solver.TestDDPSolver.test_running_cost(), test_robust_ddp_ddp_solver.TestDDPSolver.test_running_cost_with_errors(), test_robust_ddp_safety_filter.TestSafetyFilter.test_tube_violates_constraints_copv_min(), test_robust_ddp_safety_filter.TestSafetyFilter.test_tube_violates_constraints_mr(), test_robust_ddp_safety_filter.TestSafetyFilter.test_tube_violates_constraints_safe(), test_robust_ddp_safety_filter.TestSafetyFilter.test_tube_violates_constraints_ullage_max(), and test_robust_ddp_identify.TestParameterIdentification.test_update_config().

state

test_robust_ddp_actuation.TestActuation.state

Initial value:

=  ControllerState(
            u_prev={"P_u_fuel": 0.5, "P_u_ox": 0.5},
            dwell_timers={"P_u_fuel": 0.1, "P_u_ox": 0.1},  # Already satisfied
        )

Definition at line 31 of file test_robust_ddp_actuation.py.

Referenced by test_compute_actuation_binary(), test_compute_actuation_clamping(), test_compute_actuation_pwm(), test_robust_ddp_safety_filter.TestSafetyFilter.test_filter_action_clamping(), test_robust_ddp_safety_filter.TestSafetyFilter.test_filter_action_safe(), test_robust_ddp_safety_filter.TestSafetyFilter.test_filter_action_unsafe_mr(), test_robust_ddp_safety_filter.TestSafetyFilter.test_filter_action_unsafe_ullage(), and test_robust_ddp_safety_filter.TestSafetyFilter.test_find_best_safe_action().

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The documentation for this class was generated from the following file:

• EngineDesign/tests/control/robust_ddp/test_robust_ddp_actuation.py