def RunSimulation(quadrotor_plant,
control_law,
x0=np.random.random((8, 1)),
duration=30,
control_period=0.0333,
print_period=1.0,
simulation_period=0.0333):
quadrotor_controller = QuadrotorController(control_law,
control_period=control_period,
print_period=print_period)
# Create a simple block diagram containing the plant in feedback
# with the controller.
builder = DiagramBuilder()
# The last pendulum plant we made is now owned by a deleted
# system, so easiest path is for us to make a new one.
plant = builder.AddSystem(
QuadrotorPendulum(mb=quadrotor_plant.mb,
lb=quadrotor_plant.lb,
m1=quadrotor_plant.m1,
l1=quadrotor_plant.l1,
g=quadrotor_plant.g,
input_max=quadrotor_plant.input_max))
controller = builder.AddSystem(quadrotor_controller)
builder.Connect(plant.get_output_port(0), controller.get_input_port(0))
builder.Connect(controller.get_output_port(0), plant.get_input_port(0))
# Create a logger to capture the simulation of our plant
input_log = builder.AddSystem(SignalLogger(2))
input_log._DeclarePeriodicPublish(control_period, 0.0)
builder.Connect(controller.get_output_port(0), input_log.get_input_port(0))
state_log = builder.AddSystem(SignalLogger(8))
state_log._DeclarePeriodicPublish(control_period, 0.0)
builder.Connect(plant.get_output_port(0), state_log.get_input_port(0))
diagram = builder.Build()
# Set the initial conditions for the simulation.
context = diagram.CreateDefaultContext()
state = context.get_mutable_continuous_state_vector()
state.SetFromVector(x0)
# Create the simulator.
simulator = Simulator(diagram, context)
simulator.Initialize()
simulator.set_publish_every_time_step(True)
simulator.get_integrator().set_fixed_step_mode(True)
simulator.get_integrator().set_maximum_step_size(control_period)
# Simulate for the requested duration.
simulator.StepTo(duration)
return input_log, state_log
def RunSimulation(pendulum_plant,
control_law,
x0=np.random.random((4, 1)),
duration=30):
pendulum_controller = PendulumController(control_law)
# Create a simple block diagram containing the plant in feedback
# with the controller.
builder = DiagramBuilder()
# The last pendulum plant we made is now owned by a deleted
# system, so easiest path is for us to make a new one.
plant = builder.AddSystem(
InertialWheelPendulum(m1=pendulum_plant.m1,
l1=pendulum_plant.l1,
m2=pendulum_plant.m2,
l2=pendulum_plant.l2,
r=pendulum_plant.r,
g=pendulum_plant.g,
input_max=pendulum_plant.input_max))
controller = builder.AddSystem(pendulum_controller)
builder.Connect(plant.get_output_port(0), controller.get_input_port(0))
builder.Connect(controller.get_output_port(0), plant.get_input_port(0))
# Create a logger to capture the simulation of our plant
input_log = builder.AddSystem(SignalLogger(1))
input_log._DeclarePeriodicPublish(0.033333, 0.0)
builder.Connect(controller.get_output_port(0), input_log.get_input_port(0))
state_log = builder.AddSystem(SignalLogger(4))
state_log._DeclarePeriodicPublish(0.033333, 0.0)
builder.Connect(plant.get_output_port(0), state_log.get_input_port(0))
diagram = builder.Build()
# Set the initial conditions for the simulation.
context = diagram.CreateDefaultContext()
state = context.get_mutable_continuous_state_vector()
state.SetFromVector(x0)
# Create the simulator.
simulator = Simulator(diagram, context)
simulator.Initialize()
simulator.set_publish_every_time_step(False)
simulator.get_integrator().set_fixed_step_mode(True)
simulator.get_integrator().set_maximum_step_size(0.005)
# Simulate for the requested duration.
simulator.StepTo(duration)
return input_log, state_log
def RunSimulation(robobee_plantBS,
control_law,
x0=np.random.random((15, 1)),
duration=30):
robobee_controller = RobobeeController(control_law)
# Create a simple block diagram containing the plant in feedback
# with the controller.
builder = DiagramBuilder()
# The last pendulum plant we made is now owned by a deleted
# system, so easiest path is for us to make a new one.
plant = builder.AddSystem(
RobobeePlantBS(m=robobee_plantBS.m,
Ixx=robobee_plantBS.Ixx,
Iyy=robobee_plantBS.Iyy,
Izz=robobee_plantBS.Izz,
g=robobee_plantBS.g,
input_max=robobee_plantBS.input_max))
Rigidbody_selector = builder.AddSystem(RigidBodySelection())
print("1. Connecting plant and controller\n")
controller = builder.AddSystem(robobee_controller)
builder.Connect(plant.get_output_port(0), controller.get_input_port(0))
builder.Connect(controller.get_output_port(0), plant.get_input_port(0))
# Create a logger to capture the simulation of our plant
print("2. Connecting plant to the logger\n")
set_time_interval = 0.001
time_interval_multiple = 1000
publish_period = set_time_interval * time_interval_multiple
input_log = builder.AddSystem(SignalLogger(4))
# input_log._DeclarePeriodicPublish(0.033333, 0.0)
builder.Connect(controller.get_output_port(0), input_log.get_input_port(0))
state_log = builder.AddSystem(SignalLogger(15))
# state_log._DeclarePeriodicPublish(0.033333, 0.0)
builder.Connect(plant.get_output_port(0), state_log.get_input_port(0))
# Drake visualization
print("3. Connecting plant output to DrakeVisualizer\n")
rtree = RigidBodyTree(
FindResourceOrThrow("drake/examples/robobee/robobee_arena.urdf"),
FloatingBaseType.kQuaternion) #robobee_twobar
lcm = DrakeLcm()
visualizer = builder.AddSystem(
DrakeVisualizer(tree=rtree, lcm=lcm, enable_playback=True))
builder.Connect(plant.get_output_port(0),
Rigidbody_selector.get_input_port(0))
builder.Connect(Rigidbody_selector.get_output_port(0),
visualizer.get_input_port(0))
print("4. Building diagram\n")
diagram = builder.Build()
# Set the initial conditions for the simulation.
context = diagram.CreateDefaultContext()
state = context.get_mutable_continuous_state_vector()
state.SetFromVector(x0)
# Create the simulator.
print("5. Create simulation\n")
simulator = Simulator(diagram, context)
simulator.Initialize()
# simulator.set_publish_every_time_step(False)
simulator.set_target_realtime_rate(1)
simulator.get_integrator().set_fixed_step_mode(True)
simulator.get_integrator().set_maximum_step_size(0.05)
# Simulate for the requested duration.
simulator.StepTo(duration)
return input_log, state_log
diagram = builder.Build() # Set the initial conditions for the simulation. context = diagram.CreateDefaultContext() state = context.get_mutable_continuous_state_vector() state.SetFromVector(x0) # Create the simulator. simulator = Simulator(diagram, context) simulator.Initialize() # simulator.set_publish_every_time_step(Falspe) simulator.set_target_realtime_rate(1) simulator.get_integrator().set_fixed_step_mode(False) simulator.get_integrator().set_maximum_step_size(0.005) # Simulate for the requested duration. simulator.StepTo(duration) # input_log, state_log = \ # RunSimulation(robobee_plant, # test_LQRcontroller, # x0=x0, # duration=duration) num_iteration = np.size(state_log.data(), 1) num_state = np.size(state_log.data(), 0) state_out = state_log.data()
