def setUp(self):
self.headx_cmd_test = Command('headx',0,0,0)
self.headz_cmd_test = Command('headz',0,0,0)
self.vel_cmd_test = Command('vel',0.3,0,0)
self.airplane_test = ManeuveredAirplane(v0 = 0.3,
command_list = [self.headx_cmd_test,
self.headz_cmd_test,
self.vel_cmd_test])
def setUp(self):
self.head_cmd_test = Command('head', 0, 0, 0)
self.vel_cmd_test = Command('vel', 0.3, 0, 0)
self.bicycle_test = ManeuveredBicycle(
x0=0,
y0=0,
v0=0.3,
h0=0,
command_list=[self.head_cmd_test, self.vel_cmd_test])
def __init__(self,
x0=0,
y0=0,
z0=0,
v0=0,
hz0=0,
hx0=0,
command_list=None,
dt=1.):
if command_list == None:
headx_cmd = Command('headx', 0, 0, 0)
headz_cmd = Command('headz', 0, 0, 0)
vel_cmd = Command('vel', 0, 0, 0)
command_list = [headx_cmd, headz_cmd, vel_cmd]
super().__init__(command_list)
self.x = x0 # Position along x-axis.
self.y = y0 # Position along y-axis.
self.z = z0 # Position along y-axis.
self.vel = v0 # Velocity.
self.headz = hz0 # Heading around z-axis.
self.headx = hx0 # Heading around x-axis.
self.dt = dt # Time unit
The change function should be called through the change_command function
defined under the ManeuveredSystem abstract class.
'''
cmd_vel = self.commands['vel']
cmd_vel.value = speed
cmd_vel.steps = steps
cmd_vel.delta = (cmd_vel.value - self.vel) / cmd_vel.steps
if abs(cmd_vel.delta) > 0:
cmd_vel.steps = steps
else:
cmd_vel.steps = 0
if __name__ == "__main__":
# Route generation example with a ManeuveredAirplane
headx_cmd = Command('headx', 0, 0, 0)
headz_cmd = Command('headz', 0, 0, 0)
vel_cmd = Command('vel', 1, 0, 0)
airplane = ManeuveredAirplane(x0=1000,
y0=1000,
z0=1,
v0=0,
hx0=0,
hz0=0,
command_list=[headx_cmd, headz_cmd, vel_cmd])
xs, ys, zs = [], [], []
states = []
# Take off acceleration objective
airplane.change_command("vel", 200, 20)
# First phase -> Acceleration
def test_command_equality(self):
self.assertEqual(self.commandTest, Command("velocity", 0, 1, 2))
def setUp(self):
self.commandTest = Command("velocity", 0, 1, 2)
def test_initial_velocity_command_in_commands(self):
self.assertEqual(self.airplane_test.commands['vel'],Command('vel',0.3,0,0))
def test_initial_headingz_command_in_commands(self):
self.assertEqual(self.airplane_test.commands['headz'],Command('headz',0,0,0))
def test_initial_velocity_command(self):
self.assertEqual(self.vel_cmd_test,Command('vel',0.3,0,0))
def test_initial_headingz_command(self):
self.assertEqual(self.headz_cmd_test,Command('headz',0,0,0))
def test_initial_heading_command_in_commands(self):
self.assertEqual(self.bicycle_test.commands['head'],
Command('head', 0, 0, 0))
'''
cmd_vel = self.commands['vel']
cmd_vel.value = speed
cmd_vel.steps = steps
cmd_vel.delta = (cmd_vel.value - self.vel) / cmd_vel.steps
if abs(cmd_vel.delta) > 0:
cmd_vel.steps = steps
else:
cmd_vel.steps = 0
if __name__ == "__main__":
# ======== Route generation example with a ManeuveredBicycle ========
sensor_std = 1.
head_cmd = Command('head', 0, 0, 0)
vel_cmd = Command('vel', 0.3, 0, 0)
bicycle = ManeuveredBicycle(x0=0,
y0=0,
v0=0.3,
h0=0,
command_list=[head_cmd, vel_cmd])
xs, ys = [], []
# First phase
for i in range(30):
x, y = bicycle.update()
xs.append(x)
ys.append(y)
# Change in commands