diff --git a/sim/tests/unitTests/CMakeLists.txt b/sim/tests/unitTests/CMakeLists.txt
index 8317fb13a8c47945a6b6be084cd00478f2431413..6cf00001f2f35560970a987fd1a5a85528741d20 100644
--- a/sim/tests/unitTests/CMakeLists.txt
+++ b/sim/tests/unitTests/CMakeLists.txt
@@ -24,7 +24,6 @@ add_subdirectory(components/Algorithm_RouteControl)
add_subdirectory(components/Algorithm_Switch)
add_subdirectory(components/ComponentController)
add_subdirectory(components/ControllerSwitch)
-add_subdirectory(components/Dynamics_Chassis)
add_subdirectory(components/Dynamics_Collision)
add_subdirectory(components/Dynamics_Scenario)
add_subdirectory(components/Dynamics_TF)
diff --git a/sim/tests/unitTests/components/Dynamics_Chassis/CMakeLists.txt b/sim/tests/unitTests/components/Dynamics_Chassis/CMakeLists.txt
deleted file mode 100644
index 42a6967ffc994af5382cf98350ccef42cfca19ec..0000000000000000000000000000000000000000
--- a/sim/tests/unitTests/components/Dynamics_Chassis/CMakeLists.txt
+++ /dev/null
@@ -1,32 +0,0 @@
-################################################################################
-# Copyright (c) 2021 ITK Engineering GmbH
-#
-# This program and the accompanying materials are made available under the
-# terms of the Eclipse Public License 2.0 which is available at
-# http://www.eclipse.org/legal/epl-2.0.
-#
-# SPDX-License-Identifier: EPL-2.0
-################################################################################
-set(COMPONENT_TEST_NAME Dynamics_Chassis_Tests)
-set(COMPONENT_SOURCE_DIR ${OPENPASS_SIMCORE_DIR}/components/Dynamics_Chassis)
-
-add_openpass_target(
- NAME ${COMPONENT_TEST_NAME} TYPE test COMPONENT module
-
- SOURCES
- tst_ut_Chassis3D.cpp
- ${COMPONENT_SOURCE_DIR}/ForceWheelZ.cpp
- ${COMPONENT_SOURCE_DIR}/WheelOscillation.cpp
-
- HEADERS
- ${COMPONENT_SOURCE_DIR}/VehicleBasics.h
- ${COMPONENT_SOURCE_DIR}/ForceWheelZ.h
- ${COMPONENT_SOURCE_DIR}/WheelOscillation.h
-
- INCDIRS
- ${COMPONENT_SOURCE_DIR}
-
- LIBRARIES
- Qt5::Core
- Qt5::Test
-)
diff --git a/sim/tests/unitTests/components/Dynamics_Chassis/tst_ut_Chassis3D.cpp b/sim/tests/unitTests/components/Dynamics_Chassis/tst_ut_Chassis3D.cpp
deleted file mode 100644
index a0f11cac8b7d1a9e4543b2398b5ef83531a46bbd..0000000000000000000000000000000000000000
--- a/sim/tests/unitTests/components/Dynamics_Chassis/tst_ut_Chassis3D.cpp
+++ /dev/null
@@ -1,432 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2021 ITK Engineering GmbH
- *
- * This program and the accompanying materials are made available under the
- * terms of the Eclipse Public License 2.0 which is available at
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-#include <QString>
-#include <QtTest>
-
-#include "ForceWheelZ.h"
-#include "VehicleBasics.h"
-#include "WheelOscillation.h"
-
-class UT_Chassis3D : public QObject
-{
- Q_OBJECT
-
-public:
- UT_Chassis3D() = default;
- ~UT_Chassis3D() = default;
-
-private Q_SLOTS:
- void testCase_data();
- void testCase();
-
-private:
- void TestCaseSequence1(double lenLeft,
- double lenRight,
- double lenFront,
- double lenRear,
- double heightCOG,
- double mass,
- double springCoeff,
- double damperCoeff);
- void TestCaseSequence2(double lenLeft,
- double lenRight,
- double lenFront,
- double lenRear,
- double heightCOG,
- double mass,
- double springCoeff,
- double damperCoeff);
- void TestCaseSequence3(double lenLeft,
- double lenRight,
- double lenFront,
- double lenRear,
- double heightCOG,
- double mass,
- double springCoeff,
- double damperCoeff);
- void TestCaseSequence4(double lenLeft,
- double lenRight,
- double lenFront,
- double lenRear,
- double heightCOG,
- double mass,
- double springCoeff,
- double damperCoeff);
- void TestCaseSequence5(double lenLeft,
- double lenRight,
- double lenFront,
- double lenRear,
- double heightCOG,
- double mass,
- double springCoeff,
- double damperCoeff);
- void TestCaseSequence6(double lenLeft,
- double lenRight,
- double lenFront,
- double lenRear,
- double heightCOG,
- double mass,
- double springCoeff,
- double damperCoeff);
- void TestCaseSequence7(double lenLeft,
- double lenRight,
- double lenFront,
- double lenRear,
- double heightCOG,
- double mass,
- double springCoeff,
- double damperCoeff);
- void TestCaseSequence8(double lenLeft,
- double lenRight,
- double lenFront,
- double lenRear,
- double heightCOG,
- double mass,
- double springCoeff,
- double damperCoeff);
- void TestCaseSequence9(double lenLeft,
- double lenRight,
- double lenFront,
- double lenRear,
- double heightCOG,
- double mass,
- double springCoeff,
- double damperCoeff);
-};
-
-void UT_Chassis3D::testCase_data()
-{
- // inputs
- QTest::addColumn<double>("inertiaForceX");
- QTest::addColumn<double>("inertiaForceY");
-
- // fixed parameters
- QTest::addColumn<double>("lenLeft");
- QTest::addColumn<double>("lenRight");
- QTest::addColumn<double>("lenFront");
- QTest::addColumn<double>("lenRear");
- QTest::addColumn<double>("heightCOG");
- QTest::addColumn<double>("mass");
- QTest::addColumn<double>("springCoeff");
- QTest::addColumn<double>("damperCoeff");
-
- // outputs
- QTest::addColumn<double>("expectedForceFL");
- QTest::addColumn<double>("expectedForceFR");
- QTest::addColumn<double>("expectedForceRL");
- QTest::addColumn<double>("expectedForceRR");
-
- double lenLeft = 0.74, lenRight = 0.74;
- double lenFront = 1.15, lenRear = 1.26;
- double heightCOG = 0.59;
- double mass = 1350.0;
-
- double springCoeff = 1200000;
- double damperCoeff = 12000;
-
- TestCaseSequence1(lenLeft, lenRight, lenFront, lenRear, heightCOG, mass, springCoeff, damperCoeff);
- TestCaseSequence2(lenLeft, lenRight, lenFront, lenRear, heightCOG, mass, springCoeff, damperCoeff);
- TestCaseSequence3(lenLeft, lenRight, lenFront, lenRear, heightCOG, mass, springCoeff, damperCoeff);
- TestCaseSequence4(lenLeft, lenRight, lenFront, lenRear, heightCOG, mass, springCoeff, damperCoeff);
- TestCaseSequence5(lenLeft, lenRight, lenFront, lenRear, heightCOG, mass, springCoeff, damperCoeff);
- TestCaseSequence6(lenLeft, lenRight, lenFront, lenRear, heightCOG, mass, springCoeff, damperCoeff);
- TestCaseSequence7(lenLeft, lenRight, lenFront, lenRear, heightCOG, mass, springCoeff, damperCoeff);
- TestCaseSequence8(lenLeft, lenRight, lenFront, lenRear, heightCOG, mass, springCoeff, damperCoeff);
- TestCaseSequence9(lenLeft, lenRight, lenFront, lenRear, heightCOG, mass, springCoeff, damperCoeff);
-}
-
-void UT_Chassis3D::TestCaseSequence1(double lenLeft,
- double lenRight,
- double lenFront,
- double lenRear,
- double heightCOG,
- double mass,
- double springCoeff,
- double damperCoeff)
-{
- QString testCaseTitle = "TC1";
- double inertiaForceX = 336.0, inertiaForceY = 0.0; // inputs
-
- // expected outputs
- double expectedForceFL = 41.131129013001;
- double expectedForceFR = 41.131129013001;
- double expectedForceRL = -41.126350472185;
- double expectedForceRR = -41.126350472185;
-
- QTest::newRow(testCaseTitle.toLatin1())
- << inertiaForceX << inertiaForceY // inputs
- << lenLeft << lenRight << lenFront << lenRear << heightCOG << mass << springCoeff << damperCoeff // fixed values
- << expectedForceFL << expectedForceFR << expectedForceRL << expectedForceRR; // outputs
-}
-
-void UT_Chassis3D::TestCaseSequence2(double lenLeft,
- double lenRight,
- double lenFront,
- double lenRear,
- double heightCOG,
- double mass,
- double springCoeff,
- double damperCoeff)
-{
- QString testCaseTitle = "TC2";
- double inertiaForceX = -336.0, inertiaForceY = 0.0; // inputs
-
- // expected outputs
- double expectedForceFL = -41.126132377798;
- double expectedForceFR = -41.126132377798;
- double expectedForceRL = 41.130910893204;
- double expectedForceRR = 41.130910893204;
-
- QTest::newRow(testCaseTitle.toLatin1())
- << inertiaForceX << inertiaForceY // inputs
- << lenLeft << lenRight << lenFront << lenRear << heightCOG << mass << springCoeff << damperCoeff // fixed values
- << expectedForceFL << expectedForceFR << expectedForceRL << expectedForceRR; // outputs
-}
-
-void UT_Chassis3D::TestCaseSequence3(double lenLeft,
- double lenRight,
- double lenFront,
- double lenRear,
- double heightCOG,
- double mass,
- double springCoeff,
- double damperCoeff)
-{
- QString testCaseTitle = "TC3";
- double inertiaForceX = 0.0, inertiaForceY = 2.0; // inputs
-
- // expected outputs
- double expectedForceFL = 0.416844464837;
- double expectedForceFR = -0.416843995407;
- double expectedForceRL = 0.380453281399;
- double expectedForceRR = -0.380452852951;
-
- QTest::newRow(testCaseTitle.toLatin1())
- << inertiaForceX << inertiaForceY // inputs
- << lenLeft << lenRight << lenFront << lenRear << heightCOG << mass << springCoeff << damperCoeff // fixed values
- << expectedForceFL << expectedForceFR << expectedForceRL << expectedForceRR; // outputs
-}
-
-void UT_Chassis3D::TestCaseSequence4(double lenLeft,
- double lenRight,
- double lenFront,
- double lenRear,
- double heightCOG,
- double mass,
- double springCoeff,
- double damperCoeff)
-{
- QString testCaseTitle = "TC4";
- double inertiaForceX = 0.0, inertiaForceY = -2.0; // inputs
-
- // expected outputs
- double expectedForceFL = -0.416843995407;
- double expectedForceFR = 0.416844464837;
- double expectedForceRL = -0.380452852951;
- double expectedForceRR = 0.380453281399;
-
- QTest::newRow(testCaseTitle.toLatin1())
- << inertiaForceX << inertiaForceY // inputs
- << lenLeft << lenRight << lenFront << lenRear << heightCOG << mass << springCoeff << damperCoeff // fixed values
- << expectedForceFL << expectedForceFR << expectedForceRL << expectedForceRR; // outputs
-}
-
-void UT_Chassis3D::TestCaseSequence5(double lenLeft,
- double lenRight,
- double lenFront,
- double lenRear,
- double heightCOG,
- double mass,
- double springCoeff,
- double damperCoeff)
-{
- QString testCaseTitle = "TC5";
- double inertiaForceX = 336.0, inertiaForceY = 2.0; // inputs
-
- // expected outputs
- double expectedForceFL = 41.547953203216;
- double expectedForceFR = 40.714305292210;
- double expectedForceRL = -40.745876917874;
- double expectedForceRR = -41.506823598041;
-
- QTest::newRow(testCaseTitle.toLatin1())
- << inertiaForceX << inertiaForceY // inputs
- << lenLeft << lenRight << lenFront << lenRear << heightCOG << mass << springCoeff << damperCoeff // fixed values
- << expectedForceFL << expectedForceFR << expectedForceRL << expectedForceRR; // outputs
-}
-
-void UT_Chassis3D::TestCaseSequence6(double lenLeft,
- double lenRight,
- double lenFront,
- double lenRear,
- double heightCOG,
- double mass,
- double springCoeff,
- double damperCoeff)
-{
- QString testCaseTitle = "TC6";
- double inertiaForceX = -336.0, inertiaForceY = 2.0; // inputs
-
- // expected outputs
- double expectedForceFL = -40.709267640182;
- double expectedForceFR = -41.542996645978;
- double expectedForceRL = 41.511343900113;
- double expectedForceRR = 40.750478314735;
-
- QTest::newRow(testCaseTitle.toLatin1())
- << inertiaForceX << inertiaForceY // inputs
- << lenLeft << lenRight << lenFront << lenRear << heightCOG << mass << springCoeff << damperCoeff // fixed values
- << expectedForceFL << expectedForceFR << expectedForceRL << expectedForceRR; // outputs
-}
-
-void UT_Chassis3D::TestCaseSequence7(double lenLeft,
- double lenRight,
- double lenFront,
- double lenRear,
- double heightCOG,
- double mass,
- double springCoeff,
- double damperCoeff)
-{
- QString testCaseTitle = "TC7";
- double inertiaForceX = 336.0, inertiaForceY = -2.0; // inputs
-
- // expected outputs
- double expectedForceFL = 40.714305292210;
- double expectedForceFR = 41.547953203216;
- double expectedForceRL = -41.506823598041;
- double expectedForceRR = -40.745876917874;
-
- QTest::newRow(testCaseTitle.toLatin1())
- << inertiaForceX << inertiaForceY // inputs
- << lenLeft << lenRight << lenFront << lenRear << heightCOG << mass << springCoeff << damperCoeff // fixed values
- << expectedForceFL << expectedForceFR << expectedForceRL << expectedForceRR; // outputs
-}
-
-void UT_Chassis3D::TestCaseSequence8(double lenLeft,
- double lenRight,
- double lenFront,
- double lenRear,
- double heightCOG,
- double mass,
- double springCoeff,
- double damperCoeff)
-{
- QString testCaseTitle = "TC8";
- double inertiaForceX = -336.0, inertiaForceY = -2.0; // inputs
-
- // expected outputs
- double expectedForceFL = -41.542996645978;
- double expectedForceFR = -40.709267640182;
- double expectedForceRL = 40.750478314735;
- double expectedForceRR = 41.511343900113;
-
- QTest::newRow(testCaseTitle.toLatin1())
- << inertiaForceX << inertiaForceY // inputs
- << lenLeft << lenRight << lenFront << lenRear << heightCOG << mass << springCoeff << damperCoeff // fixed values
- << expectedForceFL << expectedForceFR << expectedForceRL << expectedForceRR; // outputs
-}
-
-void UT_Chassis3D::TestCaseSequence9(double lenLeft,
- double lenRight,
- double lenFront,
- double lenRear,
- double heightCOG,
- double mass,
- double springCoeff,
- double damperCoeff)
-{
- QString testCaseTitle = "TC9";
- double inertiaForceX = 0.0, inertiaForceY = 0.0; // inputs
-
- // expected outputs
- double expectedForceFL = 0.0;
- double expectedForceFR = 0.0;
- double expectedForceRL = 0.0;
- double expectedForceRR = 0.0;
-
- QTest::newRow(testCaseTitle.toLatin1())
- << inertiaForceX << inertiaForceY // inputs
- << lenLeft << lenRight << lenFront << lenRear << heightCOG << mass << springCoeff << damperCoeff // fixed values
- << expectedForceFL << expectedForceFR << expectedForceRL << expectedForceRR; // outputs
-}
-
-void UT_Chassis3D::testCase()
-{
- // inputs
- QFETCH(double, inertiaForceX);
- QFETCH(double, inertiaForceY);
-
- // fixed values
- QFETCH(double, lenLeft);
- QFETCH(double, lenRight);
- QFETCH(double, lenFront);
- QFETCH(double, lenRear);
- QFETCH(double, heightCOG);
- QFETCH(double, mass);
- QFETCH(double, springCoeff);
- QFETCH(double, damperCoeff);
-
- // outputs
- QFETCH(double, expectedForceFL);
- QFETCH(double, expectedForceFR);
- QFETCH(double, expectedForceRL);
- QFETCH(double, expectedForceRR);
-
- VehicleBasics carParam = {units::length::meter_t(lenLeft),
- units::length::meter_t(lenRight),
- units::length::meter_t(lenFront),
- units::length::meter_t(lenRear),
- units::length::meter_t(heightCOG),
- units::mass::kilogram_t(mass)};
- ForceWheelZ wheelForces;
-
- WheelOscillation oscillations[NUMBER_WHEELS];
- for (int i = 0; i < NUMBER_WHEELS; i++)
- {
- oscillations[i].Init(i, 0.01, springCoeff, damperCoeff);
- }
-
- double resForces[NUMBER_WHEELS];
- double wheelMass;
- double pitchZ = 0.0, rollZ = 0.0;
- for (int i = 0; i < 100; i++)
- {
- wheelForces.CalForce(units::force::newton_t(inertiaForceX),
- units::force::newton_t(inertiaForceY),
- units::length::meter_t(pitchZ),
- units::length::meter_t(rollZ),
- carParam);
- for (int k = 0; k < NUMBER_WHEELS; k++)
- {
- wheelMass = carParam.GetWheelMass(k).value(); // the mass is distributed based on deformation
- resForces[k] = wheelForces.GetForce(k).value(); // -wheelMass * GRAVITY_ACC
- oscillations[k].Perform(units::force::newton_t(resForces[k]), units::mass::kilogram_t(wheelMass));
- }
- pitchZ = (oscillations[0].GetCurZPos() + oscillations[1].GetCurZPos() - oscillations[2].GetCurZPos()
- - oscillations[3].GetCurZPos())
- / 2.0;
- rollZ = (oscillations[0].GetCurZPos() + oscillations[2].GetCurZPos() - oscillations[1].GetCurZPos()
- - oscillations[3].GetCurZPos())
- / 2.0;
- }
-
- qDebug("additional Z Forces %.12f, %.12f, %.12f, %.12f", resForces[0], resForces[1], resForces[2], resForces[3]);
-
- QCOMPARE(resForces[0], expectedForceFL);
- QCOMPARE(resForces[1], expectedForceFR);
- QCOMPARE(resForces[2], expectedForceRL);
- QCOMPARE(resForces[3], expectedForceRR);
-}
-
-QTEST_MAIN(UT_Chassis3D);
-
-#include "tst_ut_Chassis3D.moc"