def render(self):
data_viewer(self.x1,
self.y1,
u1=self.u1,
phit=self.phi1,
rudder_angle=self.Rudder_angle,
t=self._t,
xlim_left=self.xlim_left,
xlim_right=self.xlim_right,
ylim_left=self.ylim_left,
ylim_right=self.ylim_right,
goal_x=self.target_position[0],
goal_y=self.target_position[1])
def render(self):
data_viewer(self.x1,
self.y1,
u1=self.u1,
phit=self.phi1,
rudder_angle=self.Rudder_angle,
t=self._t,
xlim_left=-10,
xlim_right=120,
ylim_left=-10,
ylim_right=120,
goal_x=100,
goal_y=100)
def render(self):
data_viewer(self.x2,
self.y2,
u1=self.u2,
phit=self.phit,
rudder_angle=self.Rudder_angle,
t=self._t,
xlim_left=-100,
xlim_right=200,
ylim_left=-100,
ylim_right=200,
goal_x=100,
goal_y=100)
def simulation():
# initial state
state_0 = np.array(
[
[0],
[0],
[0],
[0], # eta1
[0],
[0],
[0],
[0], # V1
[0],
[0],
[6.2],
[0], # eta2
[0],
[0],
[0],
[0]
],
float) # V2
# sea state
H = 1
omega = 0.15
c_dir = 0
c_speed = 0
WG = WG_dynamics(H, omega, c_dir, c_speed)
data_elimation() # Turn on when previous data needs to be cleared
for t in simulation_time(terminal_time=500):
rudder_angle = 0.5
# data storage
if t % 1 == 0:
_t.append(t)
x1.append(state_0.item(0))
y1.append(state_0.item(1))
z1.append(state_0.item(2))
phi1.append(state_0.item(3))
u1.append(state_0.item(4))
v1.append(state_0.item(5))
w1.append(state_0.item(6))
r1.append(state_0.item(7))
x2.append(state_0.item(8))
y2.append(state_0.item(9))
z2.append(state_0.item(10))
phit.append(state_0.item(11))
u2.append(state_0.item(12))
v2.append(state_0.item(13))
w2.append(state_0.item(14))
r2.append(state_0.item(15))
Rudder_angle.append(rudder_angle)
T0, Ffoil_0, Ffoil_2, Frudder_0, Frudder_1, Frudder_3 = WG.forces(
state_0, rudder_angle, t)
T.append(T0)
Ffoil_x.append(Ffoil_0)
Ffoil_z.append(Ffoil_2)
Frudder_x.append(Frudder_0)
Frudder_y.append(Frudder_1)
Frudder_n.append(Frudder_3)
# print(t)
data_storage(x1,
y1,
phit,
t,
rudder_angle=Rudder_angle,
u1=u1,
T=T) # store data in local files
# Runge-Kutta
time_step = 0.001
k1 = WG.f(state_0, rudder_angle, t)
k2 = WG.f(state_0 + 0.5 * k1 * time_step, rudder_angle,
t + 0.5 * time_step)
k3 = WG.f(state_0 + 0.5 * k2 * time_step, rudder_angle,
t + 0.5 * time_step)
k4 = WG.f(state_0 + k3 * time_step, rudder_angle, t + time_step)
state_0 += (1 / 6) * (k1 + 2 * k2 + 2 * k3 + k4) * time_step
'''
if state_0.item(11) > pi:
state_0[11] = state_0.item(11) - 2*pi
elif state_0.item(11) < -pi:
state_0[11] = state_0.item(11) + 2*pi
'''
# print(u1[-1], np.mean(u1))
# interval of refreshing the monitor, default: 2s
if t % 2 == 0:
data_viewer(x1,
y1,
u1,
phit,
Rudder_angle,
_t,
xlim_left=0,
xlim_right=200,
ylim_left=-100,
ylim_right=100,
goal_x=50,
goal_y=50) # T=T, Ffoil_x=Ffoil_x
return x1, y1, z1, phi1, \
x2, y2, z2, phit, \
u1, v1, w1, r1, \
u2, v2, w2, r2, \
_t, T, Ffoil_x, Ffoil_z, \
Frudder_x, Frudder_y, Frudder_n, Rudder_angle