wheel test updates

Author: baggepinnen

test/test_wheels.jl

@@ -31,10 +31,12 @@ end
 
 @named worldwheel = WheelInWorld()
 
+ssys = multibody(worldwheel)
+
 defs = Dict([
 ])
 
-prob = ODEProblem(ssys, defs, (0, 4); guesses, missing_guess_value = MissingGuessValue.Random(Random.GLOBAL_RNG))
+prob = ODEProblem(ssys, defs, (0, 4); missing_guess_value = MissingGuessValue.Random(Random.GLOBAL_RNG))
 @test prob[collect(worldwheel.wheel.wheeljoint.der_angles)] == prob[collect(worldwheel.wheel.wheeljoint.der_angles)]
 
 sol = solve(prob, Tsit5(), abstol=1e-8, reltol=1e-8)
@@ -79,51 +81,49 @@ using LinearAlgebra
 end
 
 @named worldwheel = WheelInWorldWithSurface(surface = (x,z)->0)
-worldwheel = complete(worldwheel)
+ssys = multibody(worldwheel)
 
-# pars = collect(worldwheel.world.n) .=> [0,0,-1];
+# pars = collect(ssys.world.n) .=> [0,0,-1];
 defs = Dict([
-    # collect(worldwheel.world.n) .=> [0,0,-1];
-    worldwheel.wheel.body.r_0[1] => 0.2;
-    worldwheel.wheel.body.r_0[2] => 0.3;
-    worldwheel.wheel.body.r_0[3] => 0.2;
-    collect(worldwheel.wheel.wheeljoint.der_angles) .=> [0, -5, -1];
+    # collect(ssys.world.n) .=> [0,0,-1];
+    ssys.wheel.body.r_0[1] => 0.2;
+    ssys.wheel.body.r_0[2] => 0.3;
+    ssys.wheel.body.r_0[3] => 0.2;
+    collect(ssys.wheel.wheeljoint.der_angles) .=> [0, -5, -1];
     # collect(D.(cwheel.wheel.angles)) .=> [0, 5, 1]
 ])
 
-ssys = multibody(worldwheel)
-prob = ODEProblem(ssys, defs, (0, 4))
+prob = ODEProblem(ssys, defs, (0, 4); missing_guess_value = MissingGuessValue.Random(Random.GLOBAL_RNG))
 sol = solve(prob, FBDF(autodiff=false), abstol=1e-8, reltol=1e-8)
 @test SciMLBase.successful_retcode(sol)
 # first(Multibody.render(worldwheel, sol, 0, show_axis=true))
-@test sol(4, idxs=[worldwheel.wheel.x; worldwheel.wheel.z]) ≈ [0.162547, -2.23778] atol=1e-3
+@test sol(4, idxs=[ssys.wheel.x; ssys.wheel.z]) ≈ [0.162547, -2.23778] atol=1e-3
 
-@test all(norm.(sol[collect(worldwheel.wheel.wheeljoint.e_lat_0)]) .≈ 1)
+@test all(norm.(sol[collect(ssys.wheel.wheeljoint.e_lat_0)]) .≈ 1)
 
 @named worldwheel = WheelInWorldWithSurface(surface = (x,z)->x)
-worldwheel = complete(worldwheel)
+ssys = multibody(worldwheel)
 
 defs = Dict([
-    # collect(worldwheel.world.n) .=> [0,0,-1];
-    worldwheel.wheel.body.r_0[1] => 0.0;
-    worldwheel.wheel.body.r_0[2] => 0.3/sqrt(2);
-    worldwheel.wheel.body.r_0[3] => 0.0;
-    collect(worldwheel.wheel.wheeljoint.der_angles) .=> [0, 0, 0];
+    # collect(ssys.world.n) .=> [0,0,-1];
+    ssys.wheel.body.r_0[1] => 0.0;
+    ssys.wheel.body.r_0[2] => 0.3/sqrt(2);
+    ssys.wheel.body.r_0[3] => 0.0;
+    collect(ssys.wheel.wheeljoint.der_angles) .=> [0, 0, 0];
 ])
 
-ssys = multibody(worldwheel)
 prob = ODEProblem(ssys, defs, (0, 4))
 sol = solve(prob, FBDF(autodiff=false), abstol=1e-8, reltol=1e-8)
 # plot(sol)
 tv = 0:0.5:4
-@test sol(tv, idxs=worldwheel.wheel.body.r_0[1]) ≈ sol(tv, idxs=worldwheel.wheel.body.r_0[2]) .- 0.3*sqrt(2) rtol=1e-6 # The sqrt(2) is to account for the shifted contact point at a 45 degree plane
+@test sol(tv, idxs=ssys.wheel.body.r_0[1]) ≈ sol(tv, idxs=ssys.wheel.body.r_0[2]) .- 0.3*sqrt(2) rtol=1e-6 # The sqrt(2) is to account for the shifted contact point at a 45 degree plane
 
-dd = diff(sol(tv, idxs=worldwheel.wheel.wheeljoint.der_angles[2]).u) # angular acceleration
+dd = diff(sol(tv, idxs=ssys.wheel.wheeljoint.der_angles[2]).u) # angular acceleration
 @test norm(dd .- dd[1]) < 1e-10 # constant acceleration
 @test abs(dd[1]) < 9.81
 @test abs(dd[1]) > 5
-@test all(norm.(sol[collect(worldwheel.wheel.wheeljoint.e_lat_0)]) .≈ 1)
-@test all(norm.(sol[collect(worldwheel.wheel.wheeljoint.e_long_0)]) .≈ 1)
+@test all(norm.(sol[collect(ssys.wheel.wheeljoint.e_lat_0)]) .≈ 1)
+@test all(norm.(sol[collect(ssys.wheel.wheeljoint.e_long_0)]) .≈ 1)
 
 
 
@@ -165,7 +165,7 @@ import ModelingToolkitStandardLibrary.Blocks
 end
 @named model = WheelWithAxis()
 ssys = multibody(model)
-prob = ODEProblem(ssys, [], (0, 4), guesses=Dict([ssys.spin_axis.phi => 0.0]))
+prob = ODEProblem(ssys, [], (0, 4), guesses=Dict([ssys.spin_axis.phi => 0.0]); missing_guess_value = MissingGuessValue.Random(Random.GLOBAL_RNG))
 @test_skip begin # Singular linear system
     sol = solve(prob, Rodas4(autodiff=false), abstol=1e-8, reltol=1e-8)
     @test_broken !all(iszero, sol.u)
@@ -175,6 +175,8 @@ end
 # ==============================================================================
 ## RollingWheelSet
 # ==============================================================================
+import ModelingToolkitStandardLibrary.Mechanical.Rotational
+import ModelingToolkitStandardLibrary.Blocks
 @component function DrivingWheelSet(; name)
     systems = @named begin
         sine1 = Blocks.Sine(frequency=1, amplitude=2)