def angu_err(self):
a = self.x_velocity()[0]
b = self.y_velocity()[0]
w = self.velocities()[1]
I = self.I
m = self.m
x = self.get_center(1)
y = self.get_center(2)
a_err = self.x_velocity()[1] #np.zeros(self.len)
b_err = self.y_velocity()[1] # np.zeros(self.len)
w_err = np.array([self.angle_fitter()[1]] * self.len)
x_err = self.gc_err(1)
y_err = self.gc_err(2)
def f(x, y, a, b, w):
return np.cross(np.array([x, y, 0]), np.array(
[a, b, 0]))[2] * self.m + I * w
return np.array(
fejl.propagation_function_2(
f, fejl.collector([x, y, a, b, w]),
fejl.collector([x_err, y_err, a_err, b_err, w_err])))
def angle_err(self):
edge_x = self.get_center(1) - self.get_edge(1)
edge_y = self.get_center(2) - self.get_edge(2)
def f(x, y):
return np.arctan2(y, x)
return fejl.propagation_function_2(
f, fejl.collector([edge_x, edge_y]),
fejl.collector([self.ge_err(1), self.ge_err(2)]))
def energy_err(self):
kin = self.kinetic_energy()
rot = self.rotational_energy()
kin_err = self.kin_err()
rot_err = self.rot_err()
def f(x, y):
return x + y
return fejl.propagation_function_2(f, fejl.collector([kin, rot]),
fejl.collector([kin_err, rot_err]))
def vel_err(self):
x_vel = self.x_velocity()
y_vel = self.y_velocity()
x = x_vel[0]
y = y_vel[0]
x_err = x_vel[1]
y_err = y_vel[1]
def f(x, y):
return np.sqrt(x**2 + y**2)
return np.array(
fejl.propagation_function_2(f, fejl.collector([x, y]),
fejl.collector([x_err, y_err])))