public void GetLocalRH_wheelForceTest()
{
var wheel = new RbWheel(
n: 10,
R: 10,
R_max: 15,
H_wheel: 1,
H_zac: 1,
kR: 77,
muR: 77,
kH: 66,
muH: 66);
var f1 = wheel.GetLocalRH_wheelForce(new Vector3D(0, 10, 0));
Assert.AreEqual(0d, f1.GetLength(), 0.0000001);
var p2 = new Vector3D(0, 1, 1).Norm * 10;
var f2 = wheel.GetLocalRH_wheelForce(p2);
Assert.AreEqual(0d, f2.GetLength(), 0.0000001);
var p3 = new Vector3D(0, 1, 1).Norm * 9;
var f3 = wheel.GetLocalRH_wheelForce(p3);
Assert.AreEqual(1 * 77d, f3.GetLength(), 0.0000001);
var p4 = new Vector3D(0, 1, 1).Norm * 9;
p4.X = wheel.H_wheel * 0.5 + 1;
var f4 = wheel.GetLocalRH_wheelForce(p4);
Assert.AreEqual(1 * 77d, f4.GetLength(), 0.0000001);
var p5 = new Vector3D(0, 1, 1).Norm * 9;
p5.X = wheel.H_wheel * 0.5 - 0.5;
var f5 = wheel.GetLocalRH_wheelForce(p5);
Assert.AreEqual(1 * 77d, f5.GetLength(), 0.0000001);
var p6 = new Vector3D(0, 1, 1).Norm * 10;
p6.X = wheel.H_wheel * 0.5 - 0.1; //0.4
var f6 = wheel.GetLocalRH_wheelForce(p6);
Assert.AreEqual(-0.4 * 66, f6.X, 0.0000001);
var p7 = new Vector3D(0, 1, 1).Norm * 9;
p7.X = wheel.H_wheel * 0.5 - 0.1; //0.4
var f7 = wheel.GetLocalRH_wheelForce(p7);
Assert.AreEqual(Pow(0.4 * 66, 2) + Pow(77, 2), f7.GetLengthSquared(), 0.0000001);
}
public void GetlocalTauForceTest()
{
var wheel = new RbWheel(
n: 7,
R: 10,
R_max: 15,
H_wheel: 1,
H_zac: 1,
kR: 77,
muR: 77,
kH: 66,
muH: 66);
wheel.Betta = 30 * PI / 180;
var f = wheel.GetlocalTauForce(new Vector3D(0.4, -10, 0));
var yansw = (0.2673 * 10 / 47.8570) * 66;
var zansw = -(3.5664 * 10 / 47.8570) * 66;
Assert.IsTrue(Vector3D.ApproxEqual(f, new Vector3D(0, yansw, zansw), 0.1));
}
public void GetClosestIndTest()
{
var wheel = new RbWheel(
n: 7,
R: 10,
R_max: 15,
H_wheel: 1,
H_zac: 1,
kR: 77,
muR: 77,
kH: 66,
muH: 66);
wheel.Betta = 45 * PI / 180;
Assert.AreEqual(6, wheel.GetClosestInd(new Vector3D(110, 1, 0)));
Assert.AreEqual(5, wheel.GetClosestInd(new Vector3D(110, 1, -1)));
Assert.AreEqual(0, wheel.GetClosestInd(new Vector3D(110, 1, 1)));
Assert.AreEqual(1, wheel.GetClosestInd(new Vector3D(110, 0, 1)));
Assert.AreEqual(3, wheel.GetClosestInd(new Vector3D(110, -1, 0)));
Assert.AreEqual(4, wheel.GetClosestInd(new Vector3D(110, -1, -1.01)));
Assert.AreEqual(0, wheel.GetClosestInd(new Vector3D(110, 1, 0.7)));
}
