if __name__ == '__main__':
def traj(uav, orig, dest):
origin = up.Waypoint(orig[0], orig[1], orig[2], orig[3])
target = up.Waypoint(dest[0], dest[1], dest[2], dest[3])
samples = uav.path_sampling(origin, target, 1)
x = [wp.x for wp in samples]
y = [wp.y for wp in samples]
z = [wp.z for wp in samples]
return x, y, z
uav_speed = 18. # m/s
uav_max_turn_rate = 32. * np.pi / 180
uav_max_pitch_angle = 6. / 180. * np.pi
uav = up.UAV(uav_speed, uav_max_turn_rate, uav_max_pitch_angle)
ran = random.Random()
# Random trajectories
fig = plt.figure()
ax = fig.add_subplot(111, projection='3d')
def random_wp_pair(n=np.inf):
for i in range(n):
yield ((ran.randrange(-200, 200), ran.randrange(-200, 200),
ran.randrange(-200, 200), ran.random() * 2 * np.pi),
(ran.randrange(-200, 200), ran.randrange(-200, 200),
ran.randrange(-200, 200), ran.random() * 2 * np.pi))
for wp_pair in random_wp_pair(50):
import json
import matplotlib
matplotlib.use('Agg') # set backend so that an X display is not required
import numpy as np
import unittest
import fire_rs.planning.benchmark
import fire_rs.uav_planning as up
from fire_rs.geodata.display import GeoDataDisplay
from fire_rs.geodata.geo_data import GeoData, TimedPoint
from fire_rs.planning.benchmark import plot_plan, TrajectoryDisplayExtension
# X8 UAS from Porto University
uav = up.UAV(18., 32. * np.pi / 180, 0.1)
class TestUAV(unittest.TestCase):
def setUp(self):
self.wp1 = up.Waypoint(0, 0, 0, 0)
self.wp2 = up.Waypoint(4, 0, 0, 0)
self.test_area = [[480060.0, 490060.0], [6210074.0, 6220074.0]]
def test_waypoint(self):
wp1 = up.Waypoint(4, 3, 2, 1)
self.assertEqual(wp1.x, 4)
self.assertEqual(wp1.y, 3)
self.assertEqual(wp1.z, 2)
self.assertEqual(wp1.dir, 1)
samples = uav.path_sampling_airframe(origin, target, wind, 1)
x = [wp.x for wp in samples]
y = [wp.y for wp in samples]
return x, y
if __name__ == '__main__':
matplotlib.rcParams['font.family'] = 'sans-serif'
matplotlib.rcParams['text.usetex'] = True
uav_speed = 10. # m/s
uav_max_turn_rate = 32. * np.pi / 180
uav_max_pitch_angle = 6. / 180. * np.pi
wind = up.WindVector(0, -3)
no_wind = up.WindVector(0, 0)
a_uav = up.UAV("x8-06", uav_speed, uav_max_turn_rate, uav_max_pitch_angle)
wp_s, wp_e = up.Waypoint(0, 0, 0, 0), up.Waypoint(100, 0, 0, 0)
seg = up.Segment(wp_s, wp_e)
tr_time = a_uav.travel_time(seg, wind)
print(tr_time)
print(a_uav.travel_time(wp_s, wp_e, wind))
fig = plt.figure()
# Low altitude
ax = fig.add_subplot(111, aspect='equal')
# ax.set_xlim((-10, 70))
# ax.set_ylim((-20, 80))
ax.set_axis_off() #Hide axes
def as_cpp(self):
return up.UAV(self.name, self.max_air_speed, self.max_angular_velocity,
self.max_pitch_angle)