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()
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()
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()
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()