コード例 #1
0
def test_hor2body():

    # Test with a pitch rotation
    vector_hor = np.array([2 * 0.70710678118654757,  1, 0])
    theta, phi, psi = np.deg2rad(45), 0, 0

    vector_body_expected = np.array([1, 1, 1])

    vector_body = hor2body(vector_hor, theta, phi, psi)

    assert_array_almost_equal(vector_body, vector_body_expected)

    # Test with a roll rotation
    vector_hor = np.array([1, 0, 2 * 0.70710678118654757])
    theta, phi, psi = 0, np.deg2rad(45), 0

    vector_body_expected = np.array([1, 1, 1])

    vector_body = hor2body(vector_hor, theta, phi, psi)

    assert_array_almost_equal(vector_body, vector_body_expected)

    # Test with a yaw rotation
    vector_hor = np.array([0, 2 * 0.70710678118654757, 1])
    theta, phi, psi = 0, 0, np.deg2rad(45)

    vector_body_expected = np.array([1, 1, 1])

    vector_body = hor2body(vector_hor, theta, phi, psi)

    assert_array_almost_equal(vector_body, vector_body_expected)
コード例 #2
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ファイル: gravity.py プロジェクト: AlexS12/PyFME
 def update(self, system):
     r_squared = system.coord_geocentric @ system.coord_geocentric
     self.magnitude = STD_GRAVITATIONAL_PARAMETER / r_squared
     self.unitary_vector = hor2body(self._z_horizon,
                                    theta=system.theta,
                                    phi=system.phi,
                                    psi=system.psi)
     self.vector = self.magnitude * self.unitary_vector
コード例 #3
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ファイル: gravity.py プロジェクト: windschord/PyFME
    def update(self, state):
        self._versor = hor2body(self._z_horizon,
                                theta=state.attitude.theta,
                                phi=state.attitude.phi,
                                psi=state.attitude.psi
                                )

        self._vector = self.magnitude * self.versor
コード例 #4
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 def update(self, system):
     r_squared = system.coord_geocentric @ system.coord_geocentric
     self.magnitude = STD_GRAVITATIONAL_PARAMETER / r_squared
     self.unitary_vector = hor2body(self._z_horizon,
                                    theta=system.theta,
                                    phi=system.phi,
                                    psi=system.psi)
     self.vector = self.magnitude * self.unitary_vector
コード例 #5
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ファイル: cessna_310.py プロジェクト: BraMurgas/PyFME
def get_forces_and_moments(TAS, rho, alpha, beta, delta_e, ih, delta_ail,
                           delta_r, delta_t, attitude):
    """Return the total forces and moments including aerodynamics, thrust and
    gravity.

    Parameters
    ----------
    TAS : float
        velocity (m/s).
    rho : float
        density (kg/m3).
    alpha : float
        attack angle (rad).
    beta : float
        sideslip angle (rad).
    delta_e : float
        elevator deflection (rad).
    ih : float
        stabilator deflection (rad).
    delta_ail : float
        aileron deflection (rad).
    delta_r : float
        rudder deflection (rad).
    delta_t : float
        Thrust level (between 0-1).
    attitude : array_like
        Attitude angles: (theta, phi, psi).

    Returns
    -------
    forces : array_like
        3 dimensional vector with (F_x_s, F_y_s, F_z_s) forces  in body axes.
        (N)
    moments : array_like
         3 dimensional vector with (Mxs, Mys, Mzs) forces in body axes. (N·m)
    """
    # As stability axes are coincident with wind axes at the moment of
    # linearization (with alpha=0 and beta=0), stability axes are parallel to
    # body axes.
    aero_forces = get_aerodynamic_forces(TAS, rho, alpha, beta, delta_e, 0,
                                         delta_ail, delta_r)
    thrust = get_engine_force(delta_t)
    # Assuming that all the engine thrust is prodecued in the x_body direction
    engine_force = np.array([thrust, 0, 0])

    g0 = 9.81  # m/s²
    theta, phi, psi = attitude
    gravity_force = hor2body((0, 0, g0), theta, phi, psi)

    forces = aero_forces + engine_force + gravity_force

    # It is assumed that the engine moments are zero.
    moments = get_aerodynamic_moments(TAS, rho, alpha, beta, delta_e, ih,
                                      delta_ail, delta_r)

    return forces, moments
コード例 #6
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ファイル: gravity.py プロジェクト: windschord/PyFME
 def update(self, state):
     r_squared = (state.position.coord_geocentric @
                  state.position.coord_geocentric)
     self._magnitude = STD_GRAVITATIONAL_PARAMETER / r_squared
     self._versor = hor2body(self._z_horizon,
                             theta=state.attittude.theta,
                             phi=state.attittude.phi,
                             psi=state.attitude.psi
                             )
     self._vector = self.magnitude * self._vector
コード例 #7
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ファイル: gravity.py プロジェクト: AlexS12/PyFME
 def update(self, system):
     self.unitary_vector = hor2body(self._z_horizon,
                                    theta=system.theta,
                                    phi=system.phi,
                                    psi=system.psi)
     self.vector = self.magnitude * self.unitary_vector
コード例 #8
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 def update(self, value, attitude):
     self._vel_NED[:] = value
     self._vel_body = hor2body(value, attitude.theta, attitude.phi,
                               attitude.psi)  # m/s
コード例 #9
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 def update(self, coords, attitude):
     self._accel_NED[:] = coords
     self._accel_body = hor2body(coords, attitude.theta, attitude.phi,
                                 attitude.psi)
コード例 #10
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ファイル: velocity.py プロジェクト: gurkanctn/PyFME
 def update(self, value, attitude):
     self._vel_NED[:] = value
     self._vel_body = hor2body(value,
                               attitude.theta,
                               attitude.phi,
                               attitude.psi)  # m/s
コード例 #11
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ファイル: acceleration.py プロジェクト: gurkanctn/PyFME
 def update(self, coords, attitude):
     self._accel_NED[:] = coords
     self._accel_body = hor2body(coords,
                                 attitude.theta,
                                 attitude.phi,
                                 attitude.psi)
コード例 #12
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 def update(self, system):
     self.unitary_vector = hor2body(self._z_horizon,
                                    theta=system.theta,
                                    phi=system.phi,
                                    psi=system.psi)
     self.vector = self.magnitude * self.unitary_vector