def setUp(self):
self.rocket = "fakeNewsRocket" # May have to convert this into a real Rocket at some point, but it's faster this way
self.simDefinition = SimDefinition(
"MAPLEAF/Examples/Simulations/Wind.mapleaf", silent=True)
self.simDefinition.setValue("Environment.MeanWindModel", "Constant")
envReader = SubDictReader("Environment", self.simDefinition)
self.mWM = meanWindModelFactory(envReader, self.rocket)
def setUp(self):
configFilePath = "MAPLEAF/Examples/Simulations/Wind.mapleaf"
self.simDef = SimDefinition(configFilePath, silent=True)
self.simDef.setValue("Environment.MeanWindModel", "Constant")
self.simDef.setValue("SimControl.loggingLevel", "0")
rocketDictReader = SubDictReader("Rocket", self.simDef)
envReader = SubDictReader("Environment", self.simDef)
self.rocket = Rocket(rocketDictReader, silent=True)
self.mWM = meanWindModelFactory(envReader, self.rocket)
def test_getMeanWind_CustomProfile(self):
# Make sure custom profile model is used
self.simDefinition.setValue("Environment.MeanWindModel",
"CustomWindProfile")
self.simDefinition.setValue(
"Environment.CustomWindProfile.filePath",
"MAPLEAF/Examples/Wind/testWindProfile.txt")
# Re-initialize mWM
mWM = meanWindModelFactory(self.envReader, self.rocket)
assertVectorsAlmostEqual(self, mWM.getMeanWind(8000),
Vector(-5, -4, -2))
assertVectorsAlmostEqual(self, mWM.getMeanWind(7000),
Vector(-5, -4, -2))
assertVectorsAlmostEqual(self, mWM.getMeanWind(6500),
Vector(10, -2, -1))
assertVectorsAlmostEqual(self, mWM.getMeanWind(1000), Vector(10, 0, 0))
assertVectorsAlmostEqual(self, mWM.getMeanWind(0), Vector(10, 0, 0))
def test_getMeanWind_Hellman(self):
# Make sure custom profile model is used
self.simDefinition.setValue("Environment.MeanWindModel", "Hellman")
self.simDefinition.setValue("Environment.Hellman.alphaCoeff", "0.1429")
self.simDefinition.setValue("Environment.Hellman.altitudeLimit",
"1000")
# Set ground velocity
self.simDefinition.setValue("Environment.Hellman.groundWindModel",
"Constant")
self.simDefinition.setValue("Environment.ConstantMeanWind.velocity",
"(5 1 0)")
# Re-initialize mWM
mWM = meanWindModelFactory(self.envReader, self.rocket)
assertVectorsAlmostEqual(self, mWM.getMeanWind(8000),
Vector(9.655394088, 1.931078818, 0))
assertVectorsAlmostEqual(self, mWM.getMeanWind(2000),
Vector(9.655394088, 1.931078818, 0))
assertVectorsAlmostEqual(self, mWM.getMeanWind(1000),
Vector(9.655394088, 1.931078818, 0))
assertVectorsAlmostEqual(self, mWM.getMeanWind(500),
Vector(8.744859132, 1.748971826, 0))
assertVectorsAlmostEqual(self, mWM.getMeanWind(0), Vector(5, 1, 0))
def __init__(self, simDefinition=None, silent=False):
''' Sets up the Wind, Atmospheric, and Earth models requested in the Sim Definition file '''
self.launchRail = None
if simDefinition != None:
# Whenever we're running a real simulation, should always end up here
envDictReader = SubDictReader("Environment", simDefinition)
self.meanWindModel = meanWindModelFactory(envDictReader, silent=silent)
self.turbulenceModel = turbulenceModelFactory(envDictReader, silent=silent)
self.atmosphericModel = atmosphericModelFactory(envDictReader=envDictReader)
self.earthModel = earthModelFactory(envDictReader)
self.launchSiteElevation = envDictReader.tryGetFloat("LaunchSite.elevation")
self.launchSiteLatitude = envDictReader.tryGetFloat("LaunchSite.latitude")
self.launchSiteLongitude = envDictReader.tryGetFloat("LaunchSite.longitude")
# Check if being launched from a launch rail
launchRailLength = envDictReader.getFloat("LaunchSite.railLength")
if launchRailLength > 0:
# Initialize a launch rail, aligned with the rocket's initial direction
initialRocketPosition_towerFrame = envDictReader.getVector("Rocket.position")
# Check whether precise initial orientation has been specified
rotationAxis = envDictReader.tryGetVector("Rocket.rotationAxis", defaultValue=None)
if rotationAxis != None:
rotationAngle = math.radians(envDictReader.getFloat("Rocket.rotationAngle"))
initOrientation = Quaternion(rotationAxis, rotationAngle)
else:
# Calculate initial orientation quaternion in launch tower frame
rotationAxis = envDictReader.tryGetVector("Rocket.rotationAxis", defaultValue=None)
if rotationAxis != None:
rotationAngle = math.radians(self.rocketDictReader.getFloat("Rocket.rotationAngle"))
initOrientation = Quaternion(rotationAxis, rotationAngle)
else:
# Calculate initial orientation quaternion in launch tower frame
initialDirection = envDictReader.getVector("Rocket.initialDirection").normalize()
angleFromVertical = Vector(0,0,1).angle(initialDirection)
rotationAxis = Vector(0,0,1).crossProduct(initialDirection)
initOrientation = Quaternion(rotationAxis, angleFromVertical)
# TODO: Get from rocket, or calculate the same way - so that it works with rotationAxis + Angle
initialDirection = envDictReader.getVector("Rocket.initialDirection").normalize()
angleFromVertical = Vector(0,0,1).angle(initialDirection)
rotationAxis = Vector(0,0,1).crossProduct(initialDirection)
initOrientation = Quaternion(rotationAxis, angleFromVertical)
initPosition_seaLevelENUFrame = initialRocketPosition_towerFrame + Vector(0, 0, self.launchSiteElevation)
launchTowerState_local = RigidBodyState(position=initPosition_seaLevelENUFrame, orientation=initOrientation)
launchTowerState_global = self.earthModel.convertIntoGlobalFrame(launchTowerState_local, self.launchSiteLatitude, self.launchSiteLongitude)
towerDirection_global = launchTowerState_global.orientation.rotate(Vector(0, 0, 1))
self.launchRail = LaunchRail(launchTowerState_global.position, towerDirection_global, launchRailLength, earthRotationRate=self.earthModel.rotationRate)
else:
# Construct default environment from default parameters when no sim definition is passed in
# Need additional default value here in case a SimDefinition is not passed in (otherwise SimDefinition takes care of default values)
self.meanWindModel = meanWindModelFactory()
self.turbulenceModel = None
self.atmosphericModel = atmosphericModelFactory()
self.earthModel = earthModelFactory()
self.launchSiteElevation = float(defaultConfigValues["Environment.LaunchSite.elevation"])
self.launchSiteLatitude = float(defaultConfigValues["Environment.LaunchSite.latitude"])
self.launchSiteLongitude = float(defaultConfigValues["Environment.LaunchSite.longitude"])
def test_initSampledRadioSondeModel(self):
self.simDefinition.setValue("Environment.MeanWindModel",
"SampledRadioSondeData")
mWM = meanWindModelFactory(self.envReader, silent=True)