def METHOD_NAME():
    testFailCount = 0                       # zero unit test result counter
    testMessages = []                       # create empty array to store test log messages
    unitTaskName = "unitTask"               # arbitrary name (don't change)
    unitProcessName = "TestProcess"         # arbitrary name (don't change)
    bskLogging.setDefaultLogLevel(bskLogging.BSK_WARNING)
    # Create a sim module as an empty container
    unitTestSim = SimulationBaseClass.SimBaseClass()
    # Create test thread
    testProcessRate = macros.sec2nano(0.01)     # update process rate update time
    testProc = unitTestSim.CreateNewProcess(unitProcessName)
    testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate))
    # Initialize module under test's config message and add module to runtime call list
    module = torque2Dipole.torque2Dipole()
    module.ModelTag = "mtbMomentumManagement"           # update python name of test module
    unitTestSim.AddModelToTask(unitTaskName, module)
    # Initialize TAMSensorBodyMsg
    tamSensorBodyInMsgContainer = messaging.TAMSensorBodyMsgPayload()
    tamSensorBodyInMsgContainer.tam_B = [1E-5, 0.0, 0.0]
    tamSensorBodyInMsg = messaging.TAMSensorBodyMsg().write(tamSensorBodyInMsgContainer)
    # Initialize CmdTorqueBodyMsg
    tauRequestInMsgContainer = messaging.CmdTorqueBodyMsgPayload()
    tauRequestInMsgContainer.torqueRequestBody = [10.* 1E-3, 20. * 1E-3, 30 * 1E-3]
    tauRequestInMsg = messaging.CmdTorqueBodyMsg().write(tauRequestInMsgContainer)
    # Setup logging on the test module output message so that we get all the writes to it
    resultDipoleRequestOutMsg = module.dipoleRequestOutMsg.recorder()
    unitTestSim.AddModelToTask(unitTaskName, resultDipoleRequestOutMsg)
    # connect the message interfaces
    module.tamSensorBodyInMsg.subscribeTo(tamSensorBodyInMsg)
    module.tauRequestInMsg.subscribeTo(tauRequestInMsg)
    # Set the simulation time.
    unitTestSim.ConfigureStopTime(macros.sec2nano(0.0))        # seconds to stop simulation
    unitTestSim.InitializeSimulation()
    '''
        TEST 1: 
            Check that dipole_B is non-zero expected value.
    '''
    unitTestSim.ExecuteSimulation()
    b = np.array(tamSensorBodyInMsgContainer.tam_B)
    tau = np.array(tauRequestInMsgContainer.torqueRequestBody)
    expectedDipole = 1 / np.dot(b, b) * np.cross(b, tau)
    testFailCount, testMessages = unitTestSupport.compareVector(expectedDipole,
                                                                resultDipoleRequestOutMsg.dipole_B[0],
                                                                accuracy,
                                                                "dipole_B",
                                                                testFailCount, testMessages)
    '''
        TEST 2: 
            Check that dipole_B is zero when tam_B is zero.
    '''
    tamSensorBodyInMsgContainer.tam_B = [0., 0., 0.]
    tamSensorBodyInMsg = messaging.TAMSensorBodyMsg().write(tamSensorBodyInMsgContainer)
    module.tamSensorBodyInMsg.subscribeTo(tamSensorBodyInMsg)
    unitTestSim.InitializeSimulation()
    unitTestSim.ExecuteSimulation()
    expectedDipole = [0., 0., 0.]
    testFailCount, testMessages = unitTestSupport.compareVector(expectedDipole,
                                                                resultDipoleRequestOutMsg.dipole_B[0],
                                                                accuracy,
                                                                "dipole_B",
                                                                testFailCount, testMessages)
    '''
        TEST 3: 
            Check that dipole_B is zero when torqueRequestBody is zero.
    '''
    tamSensorBodyInMsgContainer.tam_B = [1E-5, 0.0, 0.0]
    tamSensorBodyInMsg = messaging.TAMSensorBodyMsg().write(tamSensorBodyInMsgContainer)
    module.tamSensorBodyInMsg.subscribeTo(tamSensorBodyInMsg)
    tauRequestInMsgContainer.torqueRequestBody = [0., 0., 0.]
    tauRequestInMsg = messaging.CmdTorqueBodyMsg().write(tauRequestInMsgContainer)
    module.tauRequestInMsg.subscribeTo(tauRequestInMsg)
    unitTestSim.InitializeSimulation()
    unitTestSim.ExecuteSimulation()
    expectedDipole = [0., 0., 0.]
    testFailCount, testMessages = unitTestSupport.compareVector(expectedDipole,
                                                                resultDipoleRequestOutMsg.dipole_B[0],
                                                                accuracy,
                                                                "dipole_B",
                                                                testFailCount, testMessages)
    print("Accuracy used: " + str(accuracy))
    if testFailCount == 0:
        print("PASSED: torque2Dipole unit test")
    else:
        print("Failed: torque2Dipole unit test")
    return [testFailCount, ''.join(testMessages)]