def run():
dt = 0.1
due = 1000
air = LVAircraftEx(dt)
state = air.reset()
logger = xsim.Logger()
# initial log
time = 0
logger.store(time=time, state=state).flush()
for time in xsim.generate_step_time(due, dt):
action = xt.d2r([0.0, -0.01])
state = air(action)
logger.store(time=time, state=state).flush()
result = xsim.Retriever(logger)
result = pd.DataFrame({
"time": result.time,
"theta": xt.r2d(result.state(air.IX_q))
})
result.plot(x="time", y="theta")
plt.show()
def test_v1():
dt = 0.1
due = 60.0
env = LVAircraftPitchV1(dt, tau=0.2)
xt.info("env", env)
env.reset()
xt.info("observation", env.get_observation())
Ks = np.array([2.5, 1.5, -3.5])
log = xsim.Logger()
env.reset()
for time in xsim.generate_step_time(due, dt):
obs = env.get_observation()
act = np.array([0, Ks.dot(obs)], dtype=np.float32)
log.store(time=env.get_time(),
observation=env.get_observation(),
action=act).flush()
env.step(act)
result = xsim.Retriever(log)
result = pd.DataFrame({
"time": result.time(),
"reference": result.observation(env.IX_C),
"pitch": result.observation(env.IX_T),
"elevator": result.observation(env._model.IX_de)
})
result.plot(x="time", y=["reference", "pitch"])
plt.show()
def test_v3():
dt = 0.02
due = 120
env_tau = 0.5
env_range = [-3, 3]
env_period = 20.0
# fail_mode = "GAIN_REDUCTION"
fail_mode = "STABILITY_LOSS"
fail_range = [-0.5, 0.5]
num_round = 100
env = LVAircraftPitchV3(dt=dt,
tau=env_tau,
range_target=xt.d2r(env_range),
target_period=env_period,
fail_mode=fail_mode,
fail_range=fail_range)
xt.info("env", env)
Ks = np.array([2.5, 1.5, -2.5])
log = []
for r in range(num_round):
log.append(xsim.Logger())
env.reset()
for time in xsim.generate_step_time(due, dt):
obs = env.get_observation()
act = np.array([0, Ks.dot(obs)], dtype=np.float32)
log[-1].store(time=env.get_time(),
observation=env.get_observation(),
action=act).flush()
env.step(act)
if env.get_time() == 60.0:
env.set_fail()
if (env.get_time() % 10) == 0:
xt.info("round:{:2.0f} | time:{:3.0f}".format(
r, env.get_time()))
fig, ax = plt.subplots()
for l in log:
result = xsim.Retriever(l)
result = pd.DataFrame({
"time": result.time(),
"reference": result.observation(env.IX_C),
"pitch": result.observation(env.IX_T),
"elevator": result.observation(env._model.IX_de)
})
result.plot(x="time", y="pitch", ax=ax, style="b", legend=False)
result.plot(x="time", y="reference", ax=ax, style="r", legend=False)
plt.show()
def test_v2():
dt = 0.02
due = 120
env_tau = 0.5
env_range = [-3, 3]
env_period = 20.0
# fail_mode = "GAIN_REDUCTION"
fail_mode = "STABILITY_LOSS"
env = LVAircraftPitchV2(dt=dt,
tau=env_tau,
range_target=xt.d2r(env_range),
target_period=env_period)
xt.info("env", env)
Ks = np.array([2.5, 1.5, -2.5])
log = xsim.Logger()
env.reset()
for time in xsim.generate_step_time(due, dt):
obs = env.get_observation()
act = np.array([0, Ks.dot(obs)], dtype=np.float32)
log.store(time=env.get_time(),
observation=env.get_observation(),
action=act).flush()
env.step(act)
if env.get_time() == 60.0:
env.set_fail_mode(fail_mode, val=-0.5)
result = xsim.Retriever(log)
result = pd.DataFrame({
"time": result.time(),
"reference": result.observation(env.IX_C),
"pitch": result.observation(env.IX_T),
"elevator": result.observation(env._model.IX_de)
})
result.plot(x="time", y=["reference", "pitch"])
plt.show()
def run():
env = LVAircraftPitchV4(DT)
env.reset()
log = xsim.Logger()
for time in xsim.generate_step_time(DUE, DT):
obs = env.observation
act = env.action_space.sample()
log.store(time=time, obs=obs).flush()
env.step(act)
res = xsim.Retriever(log)
res = pd.DataFrame({
"time": res.time(),
"T": res.obs(env.IX_T),
"C": res.obs(env.IX_C)
})
res.plot(x="time", y=["C", "T"])
plt.show()