예제 #1
0
 def __init__(self, traj, time_factor=1.):
     self.time_factor = time_factor
     self.traj = traj
     self.tf_pub = pru.TransformPublisher()
     #self.pose_pub = pru.PoseArrayPublisher(dae='quad.dae')
     self.pose_pub = pru.PoseArrayPublisher(dae='glider.dae')
     self.traj_pub = pru.TrajectoryPublisher(self.traj)
     self.fdm = fdm.FDM()
     self.df = ctl.DiffFlatness()
예제 #2
0
 def __init__(self, _traj=None, time_factor=1.):
     self.time_factor = time_factor
     _fdm = fdm.MR_FDM()
     #_fdm = fdm.UFOFDM()
     #_fdm = fdm.SolidFDM()
     self.traj_pub = pru.TrajectoryPublisher(_traj)
     _ctl_in = ctl.TrajRef(_traj, _fdm)
     _ctl = ctl.PosController(_fdm, _ctl_in)
     self.sim = pmu.Sim(_fdm, _ctl)
     self.tf_pub = pru.TransformPublisher()
     self.pose_pub = pru.QuadAndRefPublisher()
예제 #3
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    def __init__(self):
      _fdm = fdm.FDM()

      if 0:
          _ctl_in = ctl.PosStep()
          self.traj_pub = None
      else:
          #_traj = pmt.Circle([0, 0, -0.5], r=1.5, v=2.)
          _traj =  pmt.FigureOfEight(v=1.)
          #_traj = pmt.Oval(l=1, r=1, v=2.)
          self.traj_pub = pru.TrajectoryPublisher(_traj)
          _ctl_in = ctl.TrajRef(_traj, _fdm)

      _ctl = ctl.PosController(_fdm, _ctl_in)
      self.sim = pmu.Sim(_fdm, _ctl)
      self.tf_pub = pru.TransformPublisher()
      self.pose_pub = pru.QuadAndRefPublisher()
예제 #4
0
    def __init__(self, traj, time_factor=1.):
        traj = p3_fw_guid.CircleRefTraj2(c=[0, 0, 10], r=15)
        self.time_factor = time_factor
        self.traj = traj
        self.tf_pub = pru.TransformPublisher()
        self.pose_pub = pru.PoseArrayPublisher(dae='glider.dae')
        self.traj_pub = pru.TrajectoryPublisher(self.traj)

        self.carrot_pub  = pru.MarkerPublisher('guidance/goal', 'w_ned')
        self.carrot_pub2 = pru.MarkerPublisher('guidance/goal2', 'b_frd', argb=(1., 1., 1., 0.))
 
        self.fdm = fdm.FDM()
        param_filename='/home/poine/work/pat/data/vehicles/cularis.xml'
        self.dm = p1_fw_dyn.DynamicModel(param_filename)
        self.guidance = p3_fw_guid.Guidance(self.dm, traj, {'h':0, 'va':15, 'gamma':0})
        
        self.df = ctl.DiffFlatness()