Merge pull request #313 from AVSLab/feature/312-eigen-swig-int-support

Feature/312 eigen swig int support

docs/source/Support/bskReleaseNotes.rst

@@ -50,6 +50,7 @@ Version |release|
 - Bug fix made to :ref:`eclipse`: Saturn, Jupiter, Uranus, and Neptune radii were incorrectly being assigned the 
   radius of Mars. 
 - Added custom planet name to :ref:`eclipse` in case the user wants to use a body not contained within the module.
+- Removed all instances of using ``unitTestSupport.np2EigenVectorXd()``, as this function is now unneeded.
 
 
 Version 2.1.7 (March 24, 2023)

examples/OpNavScenarios/scenariosOpNav/CNN_ImageGen/scenario_CNNImages.py

@@ -86,8 +86,8 @@ def configure_initial_conditions(self):
             self.get_FswModel().relativeODData.stateInit = rN.tolist() + vN.tolist()
         if self.filterUse == "bias":
             self.get_FswModel().pixelLineFilterData.stateInit = rN.tolist() + vN.tolist() + bias
-        # self.get_DynModel().scObject.hub.r_CN_NInit = unitTestSupport.np2EigenVectorXd(rN)  # m   - r_CN_N
-        # self.get_DynModel().scObject.hub.v_CN_NInit = unitTestSupport.np2EigenVectorXd(vN)  # m/s - v_CN_N
+        # self.get_DynModel().scObject.hub.r_CN_NInit = rN  # m   - r_CN_N
+        # self.get_DynModel().scObject.hub.v_CN_NInit = vN  # m/s - v_CN_N
         self.get_DynModel().scObject.hub.sigma_BNInit = [[MRP[0]], [MRP[1]], [MRP[2]]]  # sigma_BN_B
         self.get_DynModel().scObject.hub.omega_BN_BInit = [[0.0], [0.0], [0.0]]  # rad/s - omega_BN_B
         self.get_DynModel().cameraMod.fieldOfView = np.deg2rad(55)

examples/OpNavScenarios/scenariosOpNav/OpNavMC/scenario_LimbAttOD.py

@@ -83,8 +83,8 @@ def configure_initial_conditions(self):
 
         MRP= [0,-0.3,0]
         self.get_FswModel().relativeODData.stateInit = (rN+rError).tolist() + (vN+vError).tolist()
-        self.get_DynModel().scObject.hub.r_CN_NInit = unitTestSupport.np2EigenVectorXd(rN)  # m   - r_CN_N
-        self.get_DynModel().scObject.hub.v_CN_NInit = unitTestSupport.np2EigenVectorXd(vN)  # m/s - v_CN_N
+        self.get_DynModel().scObject.hub.r_CN_NInit = rN  # m   - r_CN_N
+        self.get_DynModel().scObject.hub.v_CN_NInit = vN  # m/s - v_CN_N
         self.get_DynModel().scObject.hub.sigma_BNInit = [[MRP[0]], [MRP[1]], [MRP[2]]]  # sigma_BN_B
         self.get_DynModel().scObject.hub.omega_BN_BInit = [[0.0], [0.0], [0.0]]  # rad/s - omega_BN_B
         qNoiseIn = np.identity(6)

examples/OpNavScenarios/scenariosOpNav/OpNavMC/scenario_OpNavAttODMC.py

@@ -80,8 +80,8 @@ def configure_initial_conditions(self):
         MRP= [0,0,0]
         self.get_FswModel().relativeODData.stateInit = (rN + rError).tolist() + (vN + vError).tolist()
 
-        self.get_DynModel().scObject.hub.r_CN_NInit = unitTestSupport.np2EigenVectorXd(rN)  # m   - r_CN_N
-        self.get_DynModel().scObject.hub.v_CN_NInit = unitTestSupport.np2EigenVectorXd(vN)  # m/s - v_CN_N
+        self.get_DynModel().scObject.hub.r_CN_NInit = rN  # m   - r_CN_N
+        self.get_DynModel().scObject.hub.v_CN_NInit = vN  # m/s - v_CN_N
         self.get_DynModel().scObject.hub.sigma_BNInit = [[MRP[0]], [MRP[1]], [MRP[2]]]  # sigma_BN_B
         self.get_DynModel().scObject.hub.omega_BN_BInit = [[0.0], [0.0], [0.0]]  # rad/s - omega_BN_B
 
@@ -155,4 +155,3 @@ def run(TheScenario):
     # Configure a scenario in the base simulation
     TheScenario = scenario_OpNav()
     run(TheScenario)
-

examples/OpNavScenarios/scenariosOpNav/scenario_CNNAttOD.py

@@ -90,8 +90,8 @@ def configure_initial_conditions(self):
             self.masterSim.get_FswModel().relativeODData.stateInit = (rN + rError).tolist() + (vN + vError).tolist()
         if self.filterUse == "bias":
             self.masterSim.get_FswModel().relativeODData.stateInit = (rN + rError).tolist() + (vN + vError).tolist() + bias
-        self.masterSim.get_DynModel().scObject.hub.r_CN_NInit = unitTestSupport.np2EigenVectorXd(rN)  # m   - r_CN_N
-        self.masterSim.get_DynModel().scObject.hub.v_CN_NInit = unitTestSupport.np2EigenVectorXd(vN)  # m/s - v_CN_N
+        self.masterSim.get_DynModel().scObject.hub.r_CN_NInit = rN  # m   - r_CN_N
+        self.masterSim.get_DynModel().scObject.hub.v_CN_NInit = vN  # m/s - v_CN_N
         self.masterSim.get_DynModel().scObject.hub.sigma_BNInit = [[MRP[0]], [MRP[1]], [MRP[2]]]  # sigma_BN_B
         self.masterSim.get_DynModel().scObject.hub.omega_BN_BInit = [[0.0], [0.0], [0.0]]  # rad/s - omega_BN_B
 

examples/OpNavScenarios/scenariosOpNav/scenario_OpNavAttOD.py

@@ -111,8 +111,8 @@ def configure_initial_conditions(self):
             self.masterSim.get_FswModel().relativeODData.stateInit = (rN + rError).tolist() + (vN + vError).tolist()
         if self.filterUse == "bias":
             self.masterSim.get_FswModel().relativeODData.stateInit = (rN + rError).tolist() + (vN + vError).tolist() + bias
-        self.masterSim.get_DynModel().scObject.hub.r_CN_NInit = unitTestSupport.np2EigenVectorXd(rN)  # m   - r_CN_N
-        self.masterSim.get_DynModel().scObject.hub.v_CN_NInit = unitTestSupport.np2EigenVectorXd(vN)  # m/s - v_CN_N
+        self.masterSim.get_DynModel().scObject.hub.r_CN_NInit = rN
+        self.masterSim.get_DynModel().scObject.hub.v_CN_NInit = vN
         self.masterSim.get_DynModel().scObject.hub.sigma_BNInit = [[MRP[0]], [MRP[1]], [MRP[2]]]  # sigma_BN_B
         self.masterSim.get_DynModel().scObject.hub.omega_BN_BInit = [[0.0], [0.0], [0.0]]  # rad/s - omega_BN_B
 

examples/OpNavScenarios/scenariosOpNav/scenario_OpNavAttODLimb.py

@@ -92,8 +92,8 @@ def configure_initial_conditions(self):
 
         MRP= [0,-0.3,0]
         self.masterSim.get_FswModel().relativeODData.stateInit = (rN+rError).tolist() +  (vN+vError).tolist()
-        self.masterSim.get_DynModel().scObject.hub.r_CN_NInit = unitTestSupport.np2EigenVectorXd(rN)  # m   - r_CN_N
-        self.masterSim.get_DynModel().scObject.hub.v_CN_NInit = unitTestSupport.np2EigenVectorXd(vN)  # m/s - v_CN_N
+        self.masterSim.get_DynModel().scObject.hub.r_CN_NInit = rN
+        self.masterSim.get_DynModel().scObject.hub.v_CN_NInit = vN
         self.masterSim.get_DynModel().scObject.hub.sigma_BNInit = [[MRP[0]], [MRP[1]], [MRP[2]]]  # sigma_BN_B
         self.masterSim.get_DynModel().scObject.hub.omega_BN_BInit = [[0.0], [0.0], [0.0]]  # rad/s - omega_BN_B
         qNoiseIn = np.identity(6)

examples/OpNavScenarios/scenariosOpNav/scenario_OpNavHeading.py

@@ -106,8 +106,8 @@ def configure_initial_conditions(self):
             self.masterSim.get_FswModel().relativeODData.stateInit = rN.tolist() + vN.tolist()
         if self.filterUse == "bias":
             self.masterSim.get_FswModel().pixelLineFilterData.stateInit = rN.tolist() + vN.tolist() + bias
-        self.masterSim.get_DynModel().scObject.hub.r_CN_NInit = unitTestSupport.np2EigenVectorXd(rN)  # m   - r_CN_N
-        self.masterSim.get_DynModel().scObject.hub.v_CN_NInit = unitTestSupport.np2EigenVectorXd(vN)  # m/s - v_CN_N
+        self.masterSim.get_DynModel().scObject.hub.r_CN_NInit = rN  # m   - r_CN_N
+        self.masterSim.get_DynModel().scObject.hub.v_CN_NInit = vN  # m/s - v_CN_N
         self.masterSim.get_DynModel().scObject.hub.sigma_BNInit = [[MRP[0]], [MRP[1]], [MRP[2]]]  # sigma_BN_B
         self.masterSim.get_DynModel().scObject.hub.omega_BN_BInit = [[0.0], [0.0], [0.0]]  # rad/s - omega_BN_B
         # Search

examples/OpNavScenarios/scenariosOpNav/scenario_OpNavOD.py

@@ -84,8 +84,8 @@ def configure_initial_conditions(self):
             self.masterSim.get_FswModel().relativeODData.stateInit = rN.tolist() + vN.tolist()
         if self.filterUse == "bias":
             self.masterSim.get_FswModel().pixelLineFilterData.stateInit = rN.tolist() + vN.tolist() + bias
-        self.masterSim.get_DynModel().scObject.hub.r_CN_NInit = unitTestSupport.np2EigenVectorXd(rN)  # m   - r_CN_N
-        self.masterSim.get_DynModel().scObject.hub.v_CN_NInit = unitTestSupport.np2EigenVectorXd(vN)  # m/s - v_CN_N
+        self.masterSim.get_DynModel().scObject.hub.r_CN_NInit = rN
+        self.masterSim.get_DynModel().scObject.hub.v_CN_NInit = vN
         self.masterSim.get_DynModel().scObject.hub.sigma_BNInit = [[MRP[0]], [MRP[1]], [MRP[2]]]  # sigma_BN_B
         self.masterSim.get_DynModel().scObject.hub.omega_BN_BInit = [[0.0], [0.0], [0.0]]  # rad/s - omega_BN_B
 

examples/OpNavScenarios/scenariosOpNav/scenario_OpNavODLimb.py

@@ -80,8 +80,8 @@ def configure_initial_conditions(self):
 
         MRP= [0,-0.3,0]
         self.masterSim.get_FswModel().relativeODData.stateInit = rN.tolist() + vN.tolist()
-        self.masterSim.get_DynModel().scObject.hub.r_CN_NInit = unitTestSupport.np2EigenVectorXd(rN)  # m   - r_CN_N
-        self.masterSim.get_DynModel().scObject.hub.v_CN_NInit = unitTestSupport.np2EigenVectorXd(vN)  # m/s - v_CN_N
+        self.masterSim.get_DynModel().scObject.hub.r_CN_NInit = rN
+        self.masterSim.get_DynModel().scObject.hub.v_CN_NInit = vN
         self.masterSim.get_DynModel().scObject.hub.sigma_BNInit = [[MRP[0]], [MRP[1]], [MRP[2]]]  # sigma_BN_B
         self.masterSim.get_DynModel().scObject.hub.omega_BN_BInit = [[0.0], [0.0], [0.0]]  # rad/s - omega_BN_B
 

examples/OpNavScenarios/scenariosOpNav/scenario_OpNavPoint.py

@@ -86,8 +86,8 @@ def configure_initial_conditions(self):
             self.masterSim.get_FswModel().relativeODData.stateInit = rN.tolist() + vN.tolist()
         if self.filterUse == "bias":
             self.masterSim.get_FswModel().pixelLineFilterData.stateInit = rN.tolist() + vN.tolist() + bias
-        self.masterSim.get_DynModel().scObject.hub.r_CN_NInit = unitTestSupport.np2EigenVectorXd(rN)  # m   - r_CN_N
-        self.masterSim.get_DynModel().scObject.hub.v_CN_NInit = unitTestSupport.np2EigenVectorXd(vN)  # m/s - v_CN_N
+        self.masterSim.get_DynModel().scObject.hub.r_CN_NInit = rN
+        self.masterSim.get_DynModel().scObject.hub.v_CN_NInit = vN
         self.masterSim.get_DynModel().scObject.hub.sigma_BNInit = [[MRP[0]], [MRP[1]], [MRP[2]]]  # sigma_BN_B
         self.masterSim.get_DynModel().scObject.hub.omega_BN_BInit = [[0.0], [0.0], [0.0]]  # rad/s - omega_BN_B
         # Search

examples/OpNavScenarios/scenariosOpNav/scenario_OpNavPointLimb.py

@@ -82,8 +82,8 @@ def configure_initial_conditions(self):
             self.masterSim.get_FswModel().relativeODData.stateInit = rN.tolist() + vN.tolist()
         if self.filterUse == "bias":
             self.masterSim.get_FswModel().pixelLineFilterData.stateInit = rN.tolist() + vN.tolist() + bias
-        self.masterSim.get_DynModel().scObject.hub.r_CN_NInit = unitTestSupport.np2EigenVectorXd(rN)  # m   - r_CN_N
-        self.masterSim.get_DynModel().scObject.hub.v_CN_NInit = unitTestSupport.np2EigenVectorXd(vN)  # m/s - v_CN_N
+        self.masterSim.get_DynModel().scObject.hub.r_CN_NInit = rN
+        self.masterSim.get_DynModel().scObject.hub.v_CN_NInit = vN
         self.masterSim.get_DynModel().scObject.hub.sigma_BNInit = [[MRP[0]], [MRP[1]], [MRP[2]]]  # sigma_BN_B
         self.masterSim.get_DynModel().scObject.hub.omega_BN_BInit = [[0.0], [0.0], [0.0]]  # rad/s - omega_BN_B
         # Search

examples/OpNavScenarios/scenariosOpNav/scenario_faultDetOpNav.py

@@ -91,8 +91,8 @@ def configure_initial_conditions(self):
 
         MRP= [0,-0.3,0]
         self.masterSim.get_FswModel().relativeODData.stateInit = rN.tolist() + vN.tolist()
-        self.masterSim.get_DynModel().scObject.hub.r_CN_NInit = unitTestSupport.np2EigenVectorXd(rN)  # m   - r_CN_N
-        self.masterSim.get_DynModel().scObject.hub.v_CN_NInit = unitTestSupport.np2EigenVectorXd(vN)  # m/s - v_CN_N
+        self.masterSim.get_DynModel().scObject.hub.r_CN_NInit = rN  # m   - r_CN_N
+        self.masterSim.get_DynModel().scObject.hub.v_CN_NInit = vN  # m/s - v_CN_N
         self.masterSim.get_DynModel().scObject.hub.sigma_BNInit = [[MRP[0]], [MRP[1]], [MRP[2]]]  # sigma_BN_B
         self.masterSim.get_DynModel().scObject.hub.omega_BN_BInit = [[0.0], [0.0], [0.0]]  # rad/s - omega_BN_B
 

examples/scenarioAlbedo.py

@@ -367,14 +367,14 @@ def setupCSS(CSS):
         T2 = macros.sec2nano(1000.)
         # Set second spacecraft states for decrease in altitude
         vVt = vVt + [0.0, 375300, 0.0]  # m - v_CN_N
-        velRef.setState(unitTestSupport.np2EigenVectorXd(vVt))
+        velRef.setState(vVt)
         scSim.ConfigureStopTime(T1 + T2)
         scSim.ExecuteSimulation()
         # get the current spacecraft states
         T3 = macros.sec2nano(500.)
         # Set second spacecraft states for decrease in altitude
         vVt = [0.0, 0.0, 0.0]  # m - v_CN_N
-        velRef.setState(unitTestSupport.np2EigenVectorXd(vVt))
+        velRef.setState(vVt)
         scSim.ConfigureStopTime(T1 + T2 + T3)
         scSim.ExecuteSimulation()
         simulationTime = T1 + T2 + T3

examples/scenarioAsteroidArrival.py

@@ -610,7 +610,7 @@ def runDvBurn(simTime, burnSign, planetMsg):
     # Apply a delta V and set the new velocity state in the circular capture orbit
     vHat = vN / np.linalg.norm(vN)
     vN = vN + Delta_V_Parking_Orbit * vHat
-    velRef.setState(unitTestSupport.np2EigenVectorXd(vN))
+    velRef.setState(vN)
 
     # Travel in a circular orbit at r0, incorporating several attitude pointing modes
     runDvBurn(burnTime, -1, velAsteroidGuidanceConfig.attRefOutMsg)
@@ -634,7 +634,7 @@ def runDvBurn(simTime, burnSign, planetMsg):
     vHat = vN / vData
     vVt = vN + vHat * (v0p - vData)
     # Update state manager's velocity
-    velRef.setState(unitTestSupport.np2EigenVectorXd(vVt))
+    velRef.setState(vVt)
 
     # Run thruster burn mode along with sun-pointing during the transfer orbit
     runDvBurn(burnTime, -1, velAsteroidGuidanceConfig.attRefOutMsg)
@@ -652,7 +652,7 @@ def runDvBurn(simTime, burnSign, planetMsg):
     vHat = vN / vData
     vVt2 = vN + vHat * (v1p - vData)
     # Update state manager's velocity
-    velRef.setState(unitTestSupport.np2EigenVectorXd(vVt2))
+    velRef.setState(vVt2)
 
     # Run thruster burn visualization along with attitude pointing modes
     runDvBurn(burnTime, -1, velAsteroidGuidanceConfig.attRefOutMsg)
@@ -672,7 +672,7 @@ def runDvBurn(simTime, burnSign, planetMsg):
     vHat = vN / vData
     vVt = vN + vHat * (v2p - vData)
     # Update state manager's velocity
-    velRef.setState(unitTestSupport.np2EigenVectorXd(vVt))
+    velRef.setState(vVt)
 
     # Run thruster burn section with science pointing mode
     runDvBurn(burnTime, -1, velAsteroidGuidanceConfig.attRefOutMsg)
@@ -690,7 +690,7 @@ def runDvBurn(simTime, burnSign, planetMsg):
     vHat = vN / vData
     vVt = vN + vHat * (v3p - vData)
     # Update state manager's velocity
-    velRef.setState(unitTestSupport.np2EigenVectorXd(vVt))
+    velRef.setState(vVt)
 
     # Run thruster visualization with science pointing mode
     runDvBurn(burnTime, -1, velAsteroidGuidanceConfig.attRefOutMsg)
@@ -708,7 +708,7 @@ def runDvBurn(simTime, burnSign, planetMsg):
     vHat = vN / vData
     vVt = vN + vHat * (v3p - vData)
     # Update state manager's velocity
-    velRef.setState(unitTestSupport.np2EigenVectorXd(vVt))
+    velRef.setState(vVt)
 
     # Run thruster visualization with science-pointing mode
     runDvBurn(burnTime, -1, velAsteroidGuidanceConfig.attRefOutMsg)
@@ -776,4 +776,3 @@ def plotOrbits(timeAxis, posData1, posData2, rP, diam):
     run(
         True  # show_plots
     )
-

examples/scenarioGroundMapping.py

@@ -261,7 +261,7 @@ def run(show_plots, useCentral):
     groundMap = groundMapping.GroundMapping()
     groundMap.ModelTag = "groundMapping"
     for map_idx in range(N):
-        groundMap.addPointToModel(unitTestSupport.np2EigenVectorXd(mapping_points[map_idx,:]))
+        groundMap.addPointToModel(mapping_points[map_idx,:])
     groundMap.minimumElevation = np.radians(45.)
     groundMap.maximumRange = 1e9
     groundMap.cameraPos_B = [0, 0, 0]
@@ -431,4 +431,4 @@ def run(show_plots, useCentral):
     run(
         True,  # show_plots
         True
-    )
+    )

examples/scenarioJupiterArrival.py

@@ -223,7 +223,7 @@ def run(show_plots):
     # Apply delta V and set new velocity state
     vHat = vN / np.linalg.norm(vN)
     vN = vN + Delta_V_Parking_Orbit*vHat
-    velRef.setState(unitTestSupport.np2EigenVectorXd(vN))
+    velRef.setState(vN)
 
     # Run the simulation for 2nd chunk
     scSim.ConfigureStopTime(simulationTime + macros.sec2nano(300000))
@@ -303,4 +303,3 @@ def plotOrbits(timeAxis, posData, jupiter, a_park, e_park):
     run(
         True  # show_plots
     )
-

examples/scenarioOrbitManeuver.py

@@ -240,7 +240,7 @@ def run(show_plots, maneuverCase):
         vVt = vVt - (1. - np.cos(Delta_i)) * v0 * vHat + np.sin(Delta_i) * v0 * hHat
 
         # After computing the maneuver specific Delta_v's, the state managers velocity is updated through
-        velRef.setState(unitTestSupport.np2EigenVectorXd(vVt))
+        velRef.setState(vVt)
         T2 = macros.sec2nano(P * 0.25)
     else:
         # Hohmann Transfer to GEO
@@ -253,7 +253,7 @@ def run(show_plots, maneuverCase):
         vHat = vVt / v0
         vVt = vVt + vHat * (v0p - v0)
         # After computing the maneuver specific Delta_v's, the state managers velocity is updated through
-        velRef.setState(unitTestSupport.np2EigenVectorXd(vVt))
+        velRef.setState(vVt)
 
     # To start up the simulation again, note that the total simulation time must be provided,
     # not just the next incremental simulation time.
@@ -274,7 +274,7 @@ def run(show_plots, maneuverCase):
         vHat = np.cross(hHat, rHat)
         v0 = np.dot(vHat, vVt)
         vVt = vVt - (1. - np.cos(Delta_i)) * v0 * vHat + np.sin(Delta_i) * v0 * hHat
-        velRef.setState(unitTestSupport.np2EigenVectorXd(vVt))
+        velRef.setState(vVt)
         T3 = macros.sec2nano(P * 0.25)
     else:
         # Hohmann Transfer to GEO
@@ -284,7 +284,7 @@ def run(show_plots, maneuverCase):
         T3 = macros.sec2nano(0.25 * (np.pi) / n1)
         vHat = vVt / v1
         vVt = vVt + vHat * (v1p - v1)
-        velRef.setState(unitTestSupport.np2EigenVectorXd(vVt))
+        velRef.setState(vVt)
 
     # run simulation for 3rd chunk
     scSim.ConfigureStopTime(simulationTime + T2 + T3)

examples/scenarioPatchedConics.py

@@ -253,7 +253,7 @@ def run(show_plots):
     v_S_E = v_S_E + vHat * deltaV1
 
     vN = v_S_E + vel_N_Earth
-    velRef.setState(unitTestSupport.np2EigenVectorXd(vN))
+    velRef.setState(vN)
 
     # run simulation for 2nd chunk
     scSim.ConfigureStopTime(simulationTime + macros.sec2nano(110000))
@@ -291,8 +291,8 @@ def run(show_plots):
     depVel_N_Earth = [29.7859 * 1000, 0, 0]
     rN = rN + pos_N_Earth
     vN = vN + depVel_N_Earth
-    posRef.setState(unitTestSupport.np2EigenVectorXd(rN))
-    velRef.setState(unitTestSupport.np2EigenVectorXd(vN))
+    posRef.setState(rN)
+    velRef.setState(vN)
 
     scSim.ConfigureStopTime(simulationTime + macros.sec2nano(110000) + T2 - oneWeek*1)
     scSim.ExecuteSimulation()
@@ -348,8 +348,8 @@ def run(show_plots):
     rN = rN - pos_N_Jup
     vN = vN - vel_N_Jup
 
-    posRef.setState(unitTestSupport.np2EigenVectorXd(rN))
-    velRef.setState(unitTestSupport.np2EigenVectorXd(vN))
+    posRef.setState(rN)
+    velRef.setState(vN)
 
     # Setup data logging before the simulation is initialized
 

examples/scenarioRendezVous.py

@@ -496,7 +496,7 @@ def relOrbDrift():
         rho_Prime_H[0] = 0.0
         rho_Prime_H[1] = -1.5*n*xOff
         unusedPos, vd = orbitalMotion.hill2rv(rc, vc, rho_H, rho_Prime_H)
-        servicerVel.setState(unitTestSupport.np2EigenVectorXd(vd))
+        servicerVel.setState(vd)
 
     def relativeEllipse(A0, xOff, B0=-1):
         rd = unitTestSupport.EigenVector3d2np(servicerPos.getState())
@@ -516,7 +516,7 @@ def relativeEllipse(A0, xOff, B0=-1):
         if B0 >= 0.0:
             rho_Prime_H[2] = -B0*n*np.sin(beta)
         unusedPos, vd = orbitalMotion.hill2rv(rc, vc, rho_H, rho_Prime_H)
-        servicerVel.setState(unitTestSupport.np2EigenVectorXd(vd))
+        servicerVel.setState(vd)
 
     #
     #   configure a simulation stop time and execute the simulation run

examples/scenarioSmallBodyNav.py

@@ -707,7 +707,7 @@ def run(show_plots):
     x_0[3:6] = np.array([1.475, -0.176, 0.894])
     x_0[6:9] = np.array([-0.58, 0.615, 0.125])
     x_0[11] = 0.0004
-    smallBodyNav.x_hat_k = unitTestSupport.np2EigenVectorXd(x_0)
+    smallBodyNav.x_hat_k = x_0
     # Set the covariance to something large
     smallBodyNav.P_k = (0.1*np.identity(12)).tolist()
 
@@ -886,4 +886,4 @@ def run(show_plots):
 if __name__ == "__main__":
     run(
         True  # show_plots
-    )
+    )

examples/scenarioSmallBodyNavUKF.py

@@ -460,7 +460,7 @@ def run(show_plots):
     x_0 = np.zeros(9)
     x_0[0:3] = r_CA_A
     x_0[3:6] = v_CA_A - np.cross(omega_AN_A,r_CA_A)
-    smallBodyNav.x_hat_k = unitTestSupport.np2EigenVectorXd(x_0)
+    smallBodyNav.x_hat_k = x_0
 
     # set the initial state covariance
     P_k_pos = 1e4
@@ -598,4 +598,4 @@ def run(show_plots):
 if __name__ == "__main__":
     run(
         True  # show_plots
-    )
+    )

examples/scenarioSpacecraftLocation.py

@@ -156,7 +156,7 @@ def run(show_plots):
     scLocation.primaryScStateInMsg.subscribeTo(scObject.scStateOutMsg)
     scLocation.rEquator = earth.radEquator
     scLocation.rPolar = earth.radEquator*0.98
-    scLocation.aHat_B = unitTestSupport.np2EigenVectorXd([0, 1, 0])
+    scLocation.aHat_B = [0, 1, 0]
     scLocation.theta = np.radians(10.)
     scLocation.maximumRange = 55.
     scSim.AddModelToTask(simTaskName, scLocation)