def configuration(lean, steer, mooreParameters):
"""Returns the configuration of steady turning in lean, steer and pitch
angle in radians and degrees by giving front twos values and bicycle
parameters in Jason's set.
Parameter
---------
lean: float
A given lean angle.
steer: float
A given steer angle.
mooreParameters: dictionary
Bicycle parameters in Moore's set, but keys are string.
Return
------
q_dict: dictionary
The dictionary of steady turning configuration.
q_dict_d: dictionary
The degrees units of q_dict.
"""
mp = mooreParameters
pitch = bi.pitch_from_roll_and_steer(lean, steer, mp['rf'], mp['rr'],
mp['d1'], mp['d2'], mp['d3'])
lean_d, pitch_d, steer_d = [value*180/pi for value in [lean, pitch, steer]]
q_dict = {q2: lean, q3:pitch, q4:steer}
q_dict_d = {q2: lean_d, q3: pitch_d, q4: steer_d}
return q_dict, q_dict_d
# Built quick functions for mm and forcing
# Built a function of derivs for q_dot and u_dot
# * here is to convert variables of array (maybe or list) to a tuple for input
# into the lambdify
mm = lambdify(dummy_symbols, MM)
fo = lambdify(dummy_symbols, For)
def derivs(y, t):
return array(solve(mm(*y), fo(*y))).T[0]
# Initial conditions and time vector defining
# initial condition:
# [q1, q2, q4, q3, u2, u4, u5, u1, u3, u6]
# reference [0., 0., 0., lam, 0., 0., v/rr, 0., 0., v/rf]
q1 = 0.; q2 = 0.; q4 = 0.
q3 = pitch_from_roll_and_steer(q2, q4, mp['rf'], mp['rr'], mp['d1'], mp['d2'],
mp['d3'])
q_ini = [q1, q2, q4, q3]
v = 5.0 # m/s
u2 = 0.; u4 = 0.; u5 = v/mp['rr']
u1 = 0.; u3 = 0.; u6 = v/mp['rf']
u_ini = [u2, u4, u5, u1, u3, u6]
y0 = array(q_ini + u_ini)
t = linspace(0, 10, 1000)
# Intgration
y = odeint(derivs, y0, t)
y_re = hstack((y[:, :2], y[:,3:4], y[:,2:3],
y[:,5:6], y[:,7:9], y[:,4:5], y[:,6:7], y[:,9:]))
basu_table_one_input, basu_to_stefen_input,
basu_table_one_output, basu_to_stefen_output
)
from numpy import pi
#from dtk import bicycle as bicycle
# Parameters test
bp = benchmark_parameters() #assertation bicycle.benchmark_parameters
mp = benchmark_to_moore(bp) #assertation bicycle.benchmark_to_moore
# Pitch test
# Assertation bicycle.lambda_from_abc
# Assertation bicycle.pitch_from_roll_and_steer(lean, steer, mp['rf'], mp['rr'],
# mp['d1'], mp['d2'], mp['d3'])
lam = lambda_from_132(mp['rf'], mp['rr'], mp['d1'], mp['d3'], mp['d2'])
lean = 0.0; steer = 0.0
pitch = pitch_from_roll_and_steer(lean, steer, mp['rf'], mp['rr'],
mp['d1'], mp['d2'], mp['d3'])
# Basu test
# Assertation bicycle.basu_to_moore_input
basu_input = basu_table_one_input()
stefen_input = basu_to_stefen_input(basu_input, mp['rr'], bp['lambda'])
basu_output = basu_table_one_output()
stefen_output = basu_to_stefen_output(basu_output)
