def __init__(self, x0, t0, dynamics_config_file):
self.attrs = None
try:
with open(dynamics_config_file) as f:
self.attrs = yaml.load(f)
except:
raise IOError(errno.ENOENT, 'File not found', dynamics_config_file)
self.dynamics = FixedWingUAVDynamics(x0, t0, 0.001, self.attrs)
class FixedWingUAV(object):
def __init__(self, x0, t0, dynamics_config_file):
self.attrs = None
try:
with open(dynamics_config_file) as f:
self.attrs = yaml.load(f)
except:
raise IOError(errno.ENOENT, 'File not found', dynamics_config_file)
self.dynamics = FixedWingUAVDynamics(x0, t0, 0.001, self.attrs)
def move_to(self, pos):
self.x[0:3] = pos
def R_v1v(self, yaw_rad):
cy = np.cos(yaw_rad)
sy = np.sin(yaw_rad)
R = np.matrix(([cy, sy, 0], [-sy, cy, 0], [0, 0, 1]), dtype=np.double)
return R
def R_v2v1(self, pitch_rad):
cp = np.cos(pitch_rad)
sp = np.sin(pitch_rad)
R = np.matrix(([cp, 0, -sp], [0, 1, 0], [sp, 0, cp]), dtype=np.double)
return R
def R_bv2(self, roll_rad):
cr = np.cos(roll_rad)
sr = np.sin(roll_rad)
R = np.matrix(([1, 0, 0], [0, cr, sr], [0, -sr, cr]), dtype=np.double)
return R
def R_bv(self, rpy_rad):
yaw = rpy_rad[2]
pitch = rpy_rad[1]
roll = rpy_rad[0]
R = self.R_bv2(roll) * self.R_v2v1(pitch) * self.R_v1v(yaw)
return R
def update_state(self, dt):
if self.dynamics.control_inputs is not None:
t = dt + self.dynamics.integrator.t
self.dynamics.integrate(t)
else:
raise Exception('set control inputs first')
def set_state(self, x, t):
self.dynamics.integrator.set_initial_value(x, t)
def set_control_inputs(self, control_inputs):
self.dynamics.control_inputs = control_inputs
def get_control_inputs(self):
return self.dynamics.control_inputs
# def __call__(self, t):
# self.dynamics.integrate(t)
# self.x = self.dynamics.integrator.y
class FixedWingUAV(object):
def __init__(self, x0, t0, dynamics_config_file):
self.attrs = None
try:
with open(dynamics_config_file) as f:
self.attrs = yaml.load(f)
except:
raise IOError(errno.ENOENT, 'File not found', dynamics_config_file)
self.dynamics = FixedWingUAVDynamics(x0, t0, 0.001, self.attrs)
def move_to(self, pos):
self.x[0:3] = pos
def R_v1v(self, yaw_rad):
cy = np.cos(yaw_rad)
sy = np.sin(yaw_rad)
R = np.matrix(([cy, sy, 0], [-sy, cy, 0], [0, 0, 1]), dtype = np.double)
return R
def R_v2v1(self, pitch_rad):
cp = np.cos(pitch_rad)
sp = np.sin(pitch_rad)
R = np.matrix(([cp, 0, -sp], [0, 1, 0], [sp, 0, cp]), dtype = np.double)
return R
def R_bv2(self, roll_rad):
cr = np.cos(roll_rad)
sr = np.sin(roll_rad)
R = np.matrix(([1, 0, 0], [0, cr, sr], [0, -sr, cr]), dtype = np.double)
return R
def R_bv(self, rpy_rad):
yaw = rpy_rad[2]
pitch = rpy_rad[1]
roll = rpy_rad[0]
R = self.R_bv2(roll) * self.R_v2v1(pitch) * self.R_v1v(yaw)
return R
def update_state(self, dt):
if self.dynamics.control_inputs is not None:
t = dt + self.dynamics.integrator.t
self.dynamics.integrate(t)
else:
raise Exception('set control inputs first')
def set_state(self, x, t):
self.dynamics.integrator.set_initial_value(x, t)
def set_control_inputs(self, control_inputs):
self.dynamics.control_inputs = control_inputs
def get_control_inputs(self):
return self.dynamics.control_inputs
# def __call__(self, t):
# self.dynamics.integrate(t)
# self.x = self.dynamics.integrator.y
def __init__(self, x0, t0, dynamics_config_file):
self.attrs = None
try:
with open(dynamics_config_file) as f:
self.attrs = yaml.load(f)
except:
raise IOError(errno.ENOENT, 'File not found', dynamics_config_file)
self.dynamics = FixedWingUAVDynamics(x0, t0, 0.001, self.attrs)
