def __init__(self, DatComClass):
self.config = Config()
geometrieClass = self.config.mappingDict[
DatComClass] #welche Geometrie/DatCom Klasse wird benutzt
self.geometry = geometrieClass()
self.umrechnungenKoordinaten = UmrechnungenKoordinaten(
) #todo: nicht als self, sondern als extra Dienst
# Ziel: ist die Flugbahngleichung
#todo: prüfen ob der state in ein Dictonary soll
#state/Zustand des Objects
#np.array([u,v,w,x,y,z,p,q,r,theta,phi,psi])
# 1. Position
# im flugzeugfesten System | f_ks
self.x = 0 # m
self.y = 0 # m
self.z = 0 # m
# 2. Gechwindigkeit
# im flugzeugfesten System | f_ks
self.u = 0 # m/s
self.v = 0 # m/s
self.w = 0 # m/s
# 3. Attitude | Winkel um die Drehachsen f-KS zu g-KS
self.phi = 0 # rad
self.theta = 0 # rad
self.psi = 0 # rad
# 4. Winkelgeschwindigkeiten p,q,r
self.p = 0 # rad/s
self.q = 0 # rad/s
self.r = 0 # rad/s
# der gesamte State
self.state = np.array([
self.u, self.v, self.w, self.x, self.y, self.z, self.p, self.q,
self.r, self.phi, self.theta, self.psi
])
# abgeleitete Werte
self.alpha = 0.1e-10 #Deg
self.alphaDot = 0.1e-10
self.beta = 0
self.mass = self.geometry.mass
self.inertia = self.geometry.inertia
self.TAS = 0.1e-10
self.staudruck = 0
self.Sw = 0
# abgeleitete Koordinaten geodaetisch mit
self.x_geo = 0
self.y_geo = 0
self.z_geo = 0
self.x_dot_g_ks = 0
self.y_dot_g_ks = 0
self.z_dot_g_ks = 0
# EARTH CONSTANTS
# todo: hat nichts mit dem ac zu tun und muss ins Enviroment
self.gravity = 9.80665 # Gravity of Ethe Earth (m/s^2) - [1]
self.rho = 1.225
self.mu = 1.983e-5 # kg/m/s
# Forces & moments
self.total_forces_f_ks = np.zeros(3)
self.total_moments_f_ks = np.zeros(3)
self.delta_elevator = 0
self.delta_aileron = 0
self.delta_rudder = 0
self.delta_thrust = 0
import gym
from gym import spaces
import numpy as np
import struct
import sys
sys.path.append('..')
sys.path.append('.')
from plain_fdm.physikFDM import Aircraft_baever
from plain_fdm.lfz_controlFDM import PidRegler
from plain_fdm.physikFDM import DynamicSystem6DoF
from plain_fdm.config import Config
from plain_fdm.servicesFDM import UdpClient
from plain_fdm.servicesFDM import PlotState
config = Config()
class WrapperOpenAI(gym.Env):
"""Custom Environment that follows gym interface"""
metadata = {'render.modes': ['human']}
def __init__(self, stepweite=0.01):
super(WrapperOpenAI, self).__init__()
# Define action and observation space
# They must be gym.spaces objects
# nur aileron
high_action_space = np.array([1.], dtype=np.float32)
self.action_space = spaces.Box(low=-high_action_space,
high=high_action_space,
dtype=np.float32)
def main():
config = Config()
aircraft = AircraftBaever()
aircraft.getForces()
print(aircraft._calculate_engine_coeffs())