test: Resolve test case warnings (#29)

* resolve test case warnings

* rename placeholder classes

* check norm in inspection points divide by zero

safe_autonomy_simulation/sims/inspection/camera.py

@@ -227,9 +227,14 @@ def capture(
         x = -1
         y = 1
         z = (
-            -(image_plane_position[0] * x + image_plane_position[1] * y)
-            / image_plane_position[2]
+            (
+                -(image_plane_position[0] * x + image_plane_position[1] * y)
+                / image_plane_position[2]
+            )
+            if image_plane_position[2] != 0
+            else -(image_plane_position[0] * x + image_plane_position[1] * y)
         )
+
         norm1 = vector.normalize([x, y, z])
 
         # np.cross bug work-around https://github.com/microsoft/pylance-release/issues/3277

safe_autonomy_simulation/sims/inspection/inspection_points.py

@@ -238,7 +238,7 @@ def __init__(
         dynamics: d.Dynamics = d.PassThroughDynamics(),
         control_queue: c.ControlQueue = c.NoControl(),
         material: m.Material = m.BLACK,
-        half_weighted: bool = False
+        half_weighted: bool = False,
     ):
         self.half_weighted = half_weighted
         self._points: typing.Dict[
@@ -273,7 +273,9 @@ def _post_step(self, step_size: float):
         # Updating state in post step to ensure that all points have been updated
         self._state = np.array([p.state for p in self.points.values()])
         # Update priority vector
-        self._priority_vector = transform.Rotation.from_quat(self.parent.orientation).apply(self.init_priority_vector)
+        self._priority_vector = transform.Rotation.from_quat(
+            self.parent.orientation
+        ).apply(self.init_priority_vector)
 
     def _generate_points(
         self, num_points, points_algorithm: str = "cmu"
@@ -319,18 +321,31 @@ def _generate_points(
                     / (np.linalg.norm(-self.priority_vector) * np.linalg.norm(pos))
                 )
                 / np.pi
+                if np.linalg.norm(-self.priority_vector) != 0
+                and np.linalg.norm(pos) != 0
+                else np.dot(-self.priority_vector, pos)
                 for pos in point_positions
             ]
         else:
             point_weights = []
             for pos in point_positions:
-                dot_prod = np.dot(-self.priority_vector, pos) / (np.linalg.norm(-self.priority_vector) * np.linalg.norm(pos))
+                if (
+                    np.linalg.norm(-self.priority_vector) != 0
+                    and np.linalg.norm(pos) != 0
+                ):
+                    dot_prod = np.dot(-self.priority_vector, pos) / (
+                        np.linalg.norm(-self.priority_vector) * np.linalg.norm(pos)
+                    )
+                else:
+                    dot_prod = np.dot(-self.priority_vector, pos)
                 if dot_prod <= 0:
                     point_weights.append(np.arccos(dot_prod) / np.pi)
                 else:
                     point_weights.append(0.0)
         total_weight = sum(point_weights)
-        point_weights = [w / total_weight for w in point_weights]  # normalize weights
+        point_weights = [
+            w / total_weight if total_weight != 0 else w for w in point_weights
+        ]  # normalize weights
 
         points = {}
         for i, (pos, weight) in enumerate(zip(point_positions, point_weights)):
@@ -376,15 +391,19 @@ def update_points_inspection_status(
             # For translational motion only, camera always points towards chief (origin)
             # TODO: don't assume chief is at origin
             r_c = -cam_position
-        r_c = r_c / np.linalg.norm(r_c)  # inspector sensor unit vector
+        if np.linalg.norm(r_c) != 0:
+            r_c = r_c / np.linalg.norm(r_c)  # inspector sensor unit vector
 
         r = self.radius
         rt = np.linalg.norm(cam_position)
-        h = 2 * r * ((rt - r) / (2 * rt))
-
-        p_hat = cam_position / np.linalg.norm(
-            cam_position
-        )  # position unit vector (inspection zone cone axis)
+        if rt != 0:
+            h = 2 * r * ((rt - r) / (2 * rt))
+            p_hat = (
+                cam_position / rt
+            )  # position unit vector (inspection zone cone axis)
+        else:
+            h = 0
+            p_hat = cam_position
 
         for (
             _,

safe_autonomy_simulation/sims/inspection/sun.py

@@ -100,7 +100,7 @@ def theta(self) -> float:
         float
             Sun rotation angle in radians
         """
-        return float(self.state)
+        return float(self.state[0])
 
     @property
     def n(self) -> float:

safe_autonomy_simulation/sims/inspection/utils/vector.py

@@ -19,4 +19,8 @@ def normalize(vector: np.ndarray) -> np.ndarray:
     np.ndarray
         normalized vector
     """
-    return vector / np.linalg.norm(vector)
+    norm = np.linalg.norm(vector)
+    norm_v = vector
+    if norm != 0:
+        norm_v = vector / norm
+    return norm_v

test/entities/test_entity.py

@@ -2,16 +2,16 @@
 import safe_autonomy_simulation
 
 
-class TestDynamics(safe_autonomy_simulation.dynamics.Dynamics):
+class SimpleDynamics(safe_autonomy_simulation.dynamics.Dynamics):
     def _step(self, step_size, state, control):
         return state + control * step_size, control
 
 
-class TestEntity(safe_autonomy_simulation.Entity):
+class SimpleEntity(safe_autonomy_simulation.Entity):
     def __init__(
         self,
         name,
-        dynamics=TestDynamics(),
+        dynamics=SimpleDynamics(),
         control_queue=safe_autonomy_simulation.ControlQueue(
             default_control=np.array([1])
         ),
@@ -34,10 +34,10 @@ def state(self, state):
 
 
 def test_init():
-    entity = TestEntity(name="test_entity")
+    entity = SimpleEntity(name="test_entity")
     assert entity.name == "test_entity"
     assert np.all(entity.state == np.array([0]))
-    assert entity.dynamics.__class__.__name__ == "TestDynamics"
+    assert entity.dynamics.__class__.__name__ == "SimpleDynamics"
     assert entity.control_queue.__class__.__name__ == "ControlQueue"
     assert entity.last_control is None
     assert np.all(entity.state_dot == np.zeros_like(entity.state))
@@ -47,26 +47,26 @@ def test_init():
 
 
 def test_init_parent():
-    parent = TestEntity(name="parent")
-    entity = TestEntity(name="test_entity", parent=parent)
+    parent = SimpleEntity(name="parent")
+    entity = SimpleEntity(name="test_entity", parent=parent)
     assert entity.parent == parent
     assert entity in parent.children
 
 
 def test_init_children():
-    child1 = TestEntity(name="child1")
-    child2 = TestEntity(name="child2")
-    entity = TestEntity(name="test_entity", children={child1, child2})
+    child1 = SimpleEntity(name="child1")
+    child2 = SimpleEntity(name="child2")
+    entity = SimpleEntity(name="test_entity", children={child1, child2})
     assert child1 in entity.children
     assert child2 in entity.children
     assert child1.parent == entity
     assert child2.parent == entity
 
 
 def test_reset():
-    child1 = TestEntity(name="child1")
-    child2 = TestEntity(name="child2")
-    entity = TestEntity(name="test_entity", children={child1, child2})
+    child1 = SimpleEntity(name="child1")
+    child2 = SimpleEntity(name="child2")
+    entity = SimpleEntity(name="test_entity", children={child1, child2})
     entity.step(step_size=1)
     entity.add_control(np.array([1]))
     entity.reset()
@@ -82,9 +82,9 @@ def test_reset():
 
 
 def test__pre_step():
-    child1 = TestEntity(name="child1")
-    child2 = TestEntity(name="child2")
-    entity = TestEntity(name="test_entity", children={child1, child2})
+    child1 = SimpleEntity(name="child1")
+    child2 = SimpleEntity(name="child2")
+    entity = SimpleEntity(name="test_entity", children={child1, child2})
     entity._pre_step(step_size=1)
     assert np.all(entity.state == np.array([0]))
     assert entity.last_control is None
@@ -98,9 +98,9 @@ def test__pre_step():
 
 
 def test__post_step():
-    child1 = TestEntity(name="child1")
-    child2 = TestEntity(name="child2")
-    entity = TestEntity(name="test_entity", children={child1, child2})
+    child1 = SimpleEntity(name="child1")
+    child2 = SimpleEntity(name="child2")
+    entity = SimpleEntity(name="test_entity", children={child1, child2})
     entity._post_step(step_size=1)
     assert np.all(entity.state == np.array([0]))
     assert entity.last_control is None
@@ -114,9 +114,9 @@ def test__post_step():
 
 
 def test_step():
-    child1 = TestEntity(name="child1")
-    child2 = TestEntity(name="child2")
-    entity = TestEntity(name="test_entity", children={child1, child2})
+    child1 = SimpleEntity(name="child1")
+    child2 = SimpleEntity(name="child2")
+    entity = SimpleEntity(name="test_entity", children={child1, child2})
     entity.step(step_size=2)
     assert np.all(entity.state == np.array([2]))
     assert np.all(entity.last_control == np.array([1]))
@@ -128,15 +128,15 @@ def test_step():
 
 
 def test_add_control():
-    entity = TestEntity(name="test_entity")
+    entity = SimpleEntity(name="test_entity")
     entity.add_control(np.array([2]))
     assert np.all(entity.control_queue.next_control() == np.array([2]))
 
 
 def test__is_descendant():
-    parent = TestEntity(name="parent")
-    child = TestEntity(name="child", parent=parent)
-    grandchild = TestEntity(name="grandchild", parent=child)
+    parent = SimpleEntity(name="parent")
+    child = SimpleEntity(name="child", parent=parent)
+    grandchild = SimpleEntity(name="grandchild", parent=child)
     assert parent._is_descendant(parent)
     assert not parent._is_descendant(child)
     assert not parent._is_descendant(grandchild)
@@ -149,16 +149,16 @@ def test__is_descendant():
 
 
 def test_add_child():
-    parent = TestEntity(name="parent")
-    child = TestEntity(name="child")
+    parent = SimpleEntity(name="parent")
+    child = SimpleEntity(name="child")
     parent.add_child(child)
     assert child in parent.children
     assert child.parent == parent
 
 
 def test_remove_child():
-    parent = TestEntity(name="parent")
-    child = TestEntity(name="child")
+    parent = SimpleEntity(name="parent")
+    child = SimpleEntity(name="child")
     parent.add_child(child)
     parent.remove_child(child)
     assert child not in parent.children

test/sims/inspection/test_inspection_points/test_inspection_point_set.py

@@ -294,14 +294,20 @@ def test_update_points_inspection_status(camera, sun, binary_ray):
         radius=1,
         priority_vector=np.array([1, 0, 0]),
     )
-    h = (
-        2
-        * point_set.radius
-        * (np.linalg.norm(camera.position) / (2 * np.linalg.norm(camera.position)))
-    )
-    p_hat = camera.position / np.linalg.norm(camera.position)
+    norm_pos = np.linalg.norm(camera.position)
+    if norm_pos == 0:
+        h = 0
+        p_hat = camera.position
+    else:
+        h = (
+            2
+            * point_set.radius
+            * (norm_pos / (2 * norm_pos))
+        )
+        p_hat = camera.position / norm_pos
     r_c = transform.Rotation.from_quat(camera.orientation).as_euler("xyz")
-    r_c = r_c / np.linalg.norm(r_c)
+    if np.linalg.norm(r_c) != 0:
+        r_c = r_c / np.linalg.norm(r_c)
     point_set.update_points_inspection_status(camera, sun, binary_ray)
     for _, point in point_set.points.items():
         expected_inspected = False

test/sims/inspection/test_inspection_simulator.py

@@ -285,7 +285,7 @@ def test_step(frame_rate, inspectors, targets):
                     priority_vector=np.array([1, 0, 0]),
                 )
             ],
-        )
+        ),
     ],
 )
 def test_run_sim(frame_rate, inspectors, targets):
@@ -303,7 +303,11 @@ def test_run_sim(frame_rate, inspectors, targets):
     prev_inspected = {target.name: 0 for target in inspection_sim.targets}
     for i in range(100):
         for inspector in inspection_sim.inspectors:
-            control = rng.uniform(-1, 1, size=inspector.control_queue.default_control.shape)
+            control = rng.uniform(
+                inspector.control_queue.control_min,
+                inspector.control_queue.control_max,
+                size=inspector.control_queue.default_control.shape,
+            )
             inspector.add_control(control)
         inspection_sim.step()
         for target in inspection_sim.targets:

test/sims/spacecraft/test_defaults.py

@@ -8,7 +8,7 @@ def test_defaults():
     assert safe_autonomy_simulation.sims.spacecraft.defaults.INERTIA_DEFAULT == 0.0573
     assert np.all(
         safe_autonomy_simulation.sims.spacecraft.defaults.INERTIA_MATRIX_DEFAULT
-        == np.matrix(
+        == np.array(
             [
                 [
                     safe_autonomy_simulation.sims.spacecraft.defaults.INERTIA_DEFAULT,

test/test_simulator.py

@@ -5,7 +5,7 @@
 import numpy as np
 
 
-class TestDynamics(safe_autonomy_simulation.Dynamics):
+class SimpleDynamics(safe_autonomy_simulation.Dynamics):
     def _step(
         self, step_size: float, state: ndarray, control: ndarray
     ) -> Tuple[ndarray, ndarray]:
@@ -26,11 +26,11 @@ def _step(
 )
 
 
-class TestEntity(safe_autonomy_simulation.Entity):
+class SimpleEntity(safe_autonomy_simulation.Entity):
     def __init__(self, name):
         super().__init__(
             name,
-            dynamics=TestDynamics(),
+            dynamics=SimpleDynamics(),
             control_queue=TEST_CONTROL_QUEUE,
             material=TEST_MATERIAL,
         )
@@ -50,7 +50,7 @@ def state(self, value):
 
 @pytest.fixture
 def entities():
-    return [TestEntity(name=i) for i in range(3)]
+    return [SimpleEntity(name=i) for i in range(3)]
 
 
 @pytest.fixture