Merge pull request 'time-rework' (#2) from time-rework into main

Reviewed-on: https://git.intern.spaceteamaachen.de/ALPAKA/SPATZ/pulls/2

spatz/dataset.py

@@ -19,6 +19,33 @@ class Phase(Enum):
     ADI = 5
 
 
+def T1(angle):
+    # return Rotation.from_euler('X', angle, degrees=False).as_matrix()
+    return np.array([
+        [1, 0, 0],
+        [0, math.cos(angle), math.sin(angle)],
+        [0, -math.sin(angle), math.cos(angle)],
+    ])
+
+
+def T2(angle):
+    # return Rotation.from_euler('Y', angle, degrees=False).as_matrix()
+    return np.array([
+        [math.cos(angle), 0, -math.sin(angle)],
+        [0, 1, 0],
+        [math.sin(angle), 0, math.cos(angle)]
+    ])
+
+
+def T3(angle):
+    # return Rotation.from_euler('Z', angle, degrees=False).as_matrix()
+    return np.array([
+        [math.cos(angle), math.sin(angle), 0],
+        [-math.sin(angle), math.cos(angle), 0],
+        [0, 0, 1]
+    ])
+
+
 class Dataset(Advanceable):
     def __init__(self, path: str, interpolation: str = 'linear'):
         """A wrapper class for a Pandas dataframe containing simulation data.
@@ -42,9 +69,23 @@ class Dataset(Advanceable):
     def _on_reset(self):
         pass
 
+    def _get_closest_idx(self, t: float) -> int:
+        """Gets an index _idx_ for the dataframe _df_ such that the values at the given time _t_ are somewhere between 
+        _idx_ and _idx+1_. 
+
+        Args:
+            t (float): The requested time.
+
+        Returns:
+            int: The computed index.
+        """
+        idx = (self.__df['time'] - t).abs().idxmin()
+        idx = idx if self.__df['time'].loc[idx] <= t else idx - 1
+
+        return idx
+
     def _on_step(self, _: float):
-        idx = (self.__df['time'] - self.get_time()).abs().idxmin()
+        self.__idx = self._get_closest_idx(self.get_time())
-        self.__idx = idx if self.__df['time'].loc[idx] < self.get_time() else idx - 1
 
     def get_phase(self) -> Phase:
         """
@@ -97,100 +138,16 @@ class Dataset(Advanceable):
             float: The last time step in the dataset. 
         """
         return max(self.__df['time'])
-
-    @staticmethod
-    def T1(angle):
-        # return Rotation.from_euler('X', angle, degrees=False).as_matrix()
-        return np.array([
-            [1, 0, 0],
-            [0, math.cos(angle), math.sin(angle)],
-            [0, -math.sin(angle), math.cos(angle)],
-        ])
-
-    @staticmethod
-    def T2(angle):
-        # return Rotation.from_euler('Y', angle, degrees=False).as_matrix()
-        return np.array([
-            [math.cos(angle), 0, -math.sin(angle)],
-            [0, 1, 0],
-            [math.sin(angle), 0, math.cos(angle)]
-        ])
-
-    @staticmethod
-    def T3(angle):
-        # return Rotation.from_euler('Z', angle, degrees=False).as_matrix()
-        return np.array([
-            [math.cos(angle), math.sin(angle), 0],
-            [-math.sin(angle), math.cos(angle), 0],
-            [0, 0, 1]
-        ])
-
-    def local_to_body(self) -> ArrayLike:
-        """
-        Returns:
-            ArrayLike: The current transformation matrix from local to body-fixed coords.
-        """
-        # Get the rotation in the local coordinate system.
-        rots = self.fetch_values(['pitch_l', 'yaw_l', 'roll_l'])
-        pitch_l, yaw_l, roll_l = rots[0], rots[1], rots[2]
-
-        return self.T1(roll_l) @ self.T2(pitch_l - math.pi/2) @ self.T1(-yaw_l)
     
-    def global_to_local(self) -> ArrayLike:
+    def get_start_time(self) -> float:
         """
         Returns:
-            ArrayLike: The current transformation matrix from global to local coords.
+            float: Returns the starting time of the simulation.
         """
-        decl = self.fetch_value('declination')
+        return self.fetch_start_value('time')
-        long = self.fetch_value('longitude')
-        t0 = self.__df['time'].iloc[0]
 
-        omega_E = (2*math.pi) / (24*60*60)
+    def fetch_start_value(self, name: str) -> float:
-
+        """Get the initial value for a given attribute from the dataframe.
-        return self.T2(-decl) @ self.T3(long + omega_E * t0)
-
-    def global_to_launch_rail(self) -> ArrayLike:
-        """
-        Returns:
-            ArrayLike: The current transformation matrix from global to launch rail coords.
-        """
-        init_long = self.__df['longitude'].iloc[0]
-        init_lat = self.__df['latitude'].iloc[0]
-
-        return self.T2(-math.pi/2 - init_lat) @ self.T3(init_long)
-
-    def local_to_launch_rail(self) -> ArrayLike:
-        """
-        Returns:
-            ArrayLike: The current transformation matrix from local to launch rail coords.
-        """
-        return self.global_to_launch_rail() @ np.linalg.inv(self.global_to_local())
-
-    def launch_rail_to_body(self) -> ArrayLike:
-        """
-        Returns:
-            ArrayLike: The current transformation matrix from launch rail to local coords.
-        """
-        return self.local_to_body() @ np.linalg.inv(self.local_to_launch_rail())
-    
-    def is_transsonic(self) -> bool:
-        """
-        Returns:
-            bool: Returns True if the rocket is flying with transsonic speed at the current time of the simulation.
-        """
-        mach = self.get_mach_number()
-
-        return mach > 0.8 and mach < 1.2
-
-    def is_supersonic(self) -> bool:
-        """
-        Returns:
-            bool: True if the rocket is flying with supersonic speed at the current time of the simulation.
-        """
-        return self.get_mach_number() > 1
-
-    def fetch_value(self, name: str) -> float:
-        """Get a specific value from the dataframe.
 
         Args:
             name (str): The name of the value to fetch.
@@ -198,22 +155,10 @@ class Dataset(Advanceable):
         Returns:
             float: Returns the requested value.
         """
-        if self.__interpolation == 'linear':
+        return self.__df.at[0, name]
-            t_min = self.__df.at[self.__idx, 'time']
+    
-            t_max = self.__df.at[self.__idx + 1, 'time']
+    def fetch_init_values(self, names: List[str]) -> ArrayLike:
-
+        """Get the initial value for given attributes from the dataframe.
-            # Sometimes no time passes in-between two samples.
-            if t_max == t_min:
-                return self.__df.at[name, self.__idx]
-            
-            # Compute the weight for interpolation.
-            alpha = (self.get_time() - t_min) / (t_max - t_min)
-
-            # Interpolate linearly between the two data points.
-            return (1 - alpha) * self.__df.at[self.__idx, name] + alpha * self.__df.at[self.__idx + 1, name]
-
-    def fetch_values(self, names: List[str]) -> np.array:
-        """Get specific values from the dataframe.
 
         Args:
             names (List[str]): Names of the values to get.
@@ -221,116 +166,274 @@ class Dataset(Advanceable):
         Returns:
             np.array: Returns a numpy array containing the requested values in the same order as in the input list.
         """
-        return np.asarray([self.fetch_value(name) for name in names])
+        return np.asarray([self.fetch_start_value(name) for name in names])
 
-    def get_velocity(self) -> float:
+    def fetch_value(self, name: str, t: float | None = None) -> float:
-        """
+        """Get a specific value from the dataframe.
-        Returns:
-            np.array: Returns the velocity at the current time of the simulation.
-        """
-        return self.fetch_value('velocity')
-    
-    def get_acceleration(self, frame='FL') -> ArrayLike:
-        """_summary_
 
         Args:
-            frame (str, optional): _description_. Defaults to 'FL'.
+            name (str): The name of the value to fetch.
+            t (float): Allows specification of a different time instead of the current time. None for current time.
 
         Returns:
-            ArrayLike: _description_
+            float: Returns the requested value.
         """
-        acc = self.fetch_values(['ax', 'ay', 'az'])
+        idx = self.__idx if t is None else self._get_closest_idx(t)
+
+        if self.__interpolation == 'linear':
+            t_min = self.__df.at[idx, 'time']
+            t_max = self.__df.at[idx + 1, 'time']
+
+            # Sometimes no time passes in-between two samples.
+            if t_max == t_min:
+                return self.__df.at[name, idx]
+            
+            # Compute the weight for interpolation.
+            alpha = (self.get_time() - t_min) / (t_max - t_min)
+
+            # Interpolate linearly between the two data points.
+            return (1 - alpha) * self.__df.at[idx, name] + alpha * self.__df.at[idx + 1, name]
+
+    def fetch_values(self, names: List[str], t: float | None = None) -> ArrayLike:
+        """Get specific values from the dataframe.
+
+        Args:
+            names (List[str]): Names of the values to get.
+            t (float): Allows specification of a different time instead of the current time. None for current time.
+
+        Returns:
+            np.array: Returns a numpy array containing the requested values in the same order as in the input list.
+        """
+        return np.asarray([self.fetch_value(name, t) for name in names])
+
+    def local_to_body(self, t: float | None = None) -> ArrayLike:
+        """
+        Args:
+            t (float): The time to get the transformation matrix for.
+
+        Returns:
+            ArrayLike: The current transformation matrix from local to body-fixed coords.
+        """
+        # Get the rotation in the local coordinate system.
+        rots = self.fetch_values(['pitch_l', 'yaw_l', 'roll_l'], t)
+        pitch_l, yaw_l, roll_l = rots[0], rots[1], rots[2]
+
+        return T1(roll_l) @ T2(pitch_l - math.pi/2) @ T1(-yaw_l)
+    
+    def global_to_local(self, t: float | None = None) -> ArrayLike:
+        """
+        Args:
+            t (float): The time to get the transformation matrix for.
+
+        Returns:
+            ArrayLike: The current transformation matrix from global to local coords.
+        """
+        decl = self.fetch_value('declination', t)
+        long = self.fetch_value('longitude', t)
+        t0 = self.get_start_time()
+
+        omega_E = (2*math.pi) / (24*60*60)
+
+        return T2(-decl) @ T3(long + omega_E * t0)
+
+    def global_to_launch_rail(self, t: float | None = None) -> ArrayLike:
+        """
+        Args:
+            t (float): The time to get the transformation matrix for. Doesn't do anything here because
+            the transformation remains the same across all time steps.
+
+        Returns:
+            ArrayLike: The current transformation matrix from global to launch rail coords.
+        """
+        init_long = self.fetch_start_value('longitude')
+        init_lat = self.fetch_start_value('latitude')
+
+        return T2(-math.pi/2 - init_lat) @ T3(init_long)
+
+    def local_to_launch_rail(self, t: float | None = None) -> ArrayLike:
+        """
+        Args:
+            t (float): The time to get the transformation matrix for.
+
+        Returns:
+            ArrayLike: The current transformation matrix from local to launch rail coords.
+        """
+        return self.global_to_launch_rail(t) @ np.linalg.inv(self.global_to_local(t))
+
+    def launch_rail_to_body(self, t: float | None = None) -> ArrayLike:
+        """
+        Args:
+            t (float): The time to get the transformation matrix for.
+
+        Returns:
+            ArrayLike: The current transformation matrix from launch rail to local coords.
+        """
+        return self.local_to_body(t) @ np.linalg.inv(self.local_to_launch_rail(t))
+    
+    def get_mach_number(self, t: float | None = None) -> float:
+        """
+        Args: 
+            t (float): Allows specification of a different time instead of the current time. None for current time.
+        
+        Returns:
+            float: Returns the mach number at the specified time.
+        """
+        return self.fetch_value('mach', t)
+
+    def is_transsonic(self, t: float | None = None) -> bool:
+        """
+        Args:
+            t (float): Allows specification of a different time instead of the current time. None for current time.
+
+        Returns:
+            bool: Returns True if the rocket is flying with transsonic speed at the specified time.
+        """
+        mach = self.get_mach_number(t)
+
+        return mach > 0.8 and mach < 1.2
+
+    def is_supersonic(self, t: float | None = None) -> bool:
+        """
+        Args:
+            t (float): Allows specification of a different time instead of the current time. None for current time.
+
+        Returns:
+            bool: True if the rocket is flying with supersonic speed at the specified time.
+        """
+        return self.get_mach_number(t) > 1
+
+    def get_velocity(self, t: float | None = None) -> float:
+        """
+        Args:
+            t (float): Allows specification of a different time instead of the current time. None for current time.
+
+        Returns:
+            np.array: Returns the velocity at the current time.
+        """
+        return self.fetch_value('velocity', t)
+    
+    def get_acceleration(self, frame='FL', t: float | None = None) -> ArrayLike:
+        """
+        Args:
+            frame (str, optional): The coordinate frame to compute the acceleration for. Defaults to 'FL'.
+            t (float): Allows specification of a different time instead of the current time. None for current time.
+
+        Returns:
+            ArrayLike: Returns the spacecraft's acceleration at the given time.
+        """
+        acc = self.fetch_values(['ax', 'ay', 'az'], t)
 
         if frame == 'B':
-            return self.launch_rail_to_body() @ acc
+            return self.launch_rail_to_body(t) @ acc
         
         return acc
     
-    def get_angular_velocities(self) -> ArrayLike:
+    def get_angular_velocities(self, t: float | None = None) -> ArrayLike:
         """
+        Args:
+            t (float): Allows specification of a different time instead of the current time. None for current time.
+
         Returns:
             ArrayLike: Gets the derivatives in angular velocity across all axes of the rocket.
         """
-        return self.fetch_values(['omega_X', 'omega_Y', 'omega_Z'])
+        return self.fetch_values(['OMEGA_X', 'OMEGA_Y', 'OMEGA_Z'], t)
 
-    def get_velocity(self, frame='FL') -> ArrayLike:
+    def get_velocity(self, frame='FL', t: float | None = None) -> ArrayLike:
         """
         Args:
-            frame (str, optional): _description_. Defaults to 'FL'.
+            frame (str, optional): The coordinate frame to compute the velocity for. Defaults to 'FL'.
+            t (float): Allows specification of a different time instead of the current time. None for current time.
 
         Returns:
-            ArrayLike: _description_
+            ArrayLike: Returns the spacecraft's velocity at a given time.
         """
 
-        vel = self.fetch_values(['vx', 'vy', 'vz'])
+        vel = self.fetch_values(['vx', 'vy', 'vz'], t)
 
         if frame == 'B':
-            return self.launch_rail_to_body() @ vel
+            return self.launch_rail_to_body(t) @ vel
         
         return vel
 
-    def get_mach_number(self) -> float:
+    def get_altitude(self, t: float | None = None) -> float:
         """
-        Returns:
+        Args:
-            float: Returns the mach number at the current time of the simulation.
+            t (float | None, optional): Allows specification of a different time instead of the current time. None for current time.
-        """
-        return self.fetch_value('mach')
 
-    def get_speed_of_sound(self) -> float:
-        """
         Returns:
-            float: Returns the speed of sound at the current time of the simulation.
+            float: Returns the altitude in meter at the specified time.
         """
-        return self.fetch_value('speedofsound')      
+        return self.fetch_value('altitude', t)
 
-    def get_rotation_rates(self) -> np.array:
+    def get_speed_of_sound(self, t: float | None = None) -> float:
         """
-        Returns:
+        Args:
-            np.array: Returns the rotation rates at the current time of the simulation.
+            t (float): Allows specification of a different time instead of the current time. None for current time.
-        """
-        return self.fetch_values(['OMEGA_X', 'OMEGA_Y', 'OMEGA_Z'])
 
-    def get_rotation(self) -> np.array:
-        """
         Returns:
-            np.array: _description_
+            float: Returns the speed of sound at the specified time.
         """
-        return self.fetch_values(['pitch_l', 'yaw_l', 'roll_l'])
+        return self.fetch_value('speedofsound', t)      
 
-    def get_temperature(self) -> float:
+    def get_rotation(self, t: float | None = None) -> np.array:
         """
+        Args:
+            t (float): Allows specification of a different time instead of the current time. None for current time.
+
         Returns:
-            np.array: Returns the temperature at the current time of the simulation.
+            np.array: returns the rotation at the specified time.
         """
-        return self.fetch_value('temperature')
+        return self.fetch_values(['pitch_l', 'yaw_l', 'roll_l'], t)
+
+    def get_temperature(self, t: float | None = None) -> float:
+        """
+        Args:
+            t (float): Allows specification of a different time instead of the current time. None for current time.
+
+        Returns:
+            np.array: Returns the temperature at the spepcified time.
+        """
+        return self.fetch_value('temperature', t)
     
-    def get_pressure(self) -> float:
+    def get_pressure(self, t: float | None = None) -> float:
         """
+        Args:
+            t (float): Allows specification of a different time instead of the current time. None for current time.
+
         Returns:
             np.array: Returns the pressure at the current time of the simulation.
         """
-        return self.fetch_value('pressure')
+        return self.fetch_value('pressure', t)
     
-    def get_thrust(self) -> float:
+    def get_thrust(self, t: float | None = None) -> float:
         """
+        Args:
+            t (float): Allows specification of a different time instead of the current time. None for current time.
+
         Returns:
-            float: Returns the thrust value for the current time of the simulation.
+            float: Returns the thrust value for the specified time.
         """
-        return self.fetch_value('thrust')
+        return self.fetch_value('thrust', t)
     
-    def get_drag(self) -> float:
+    def get_drag(self, t: float | None = None) -> float:
         """
+        Args:
+            t (float): Allows specification of a different time instead of the current time. None for current time.
+
         Returns:
-            float: Returns the drag value for the current time of the simulation.
+            float: Returns the drag value for the specified time.
         """
-        return self.fetch_value('drag')
+        return self.fetch_value('drag', t)
     
-    def get_mass(self) -> float:
+    def get_mass(self, t: float | None = None) -> float:
         """
+        Args:
+            t (float): Allows specification of a different time instead of the current time. None for current time.
+
         Returns:
-            float: Returns the mass value for the current time of the simulation.
+            float: Returns the mass value for the specified time.
         """
-        return self.fetch_value('mass')
+        return self.fetch_value('mass', t)
 
 
 if __name__ == '__main__':

spatz/logger.py

@@ -1,7 +1,7 @@
 import numpy as np
 import pandas as pd
 
-from typing import Any, Tuple
+from typing import Any, Tuple, List
 from numpy.typing import ArrayLike
 
 from abc import abstractmethod
@@ -56,7 +56,7 @@ class Logger(Advanceable):
     def _on_reset(self):
         self.__df = pd.DataFrame.from_dict({'time': [self.get_time()]}).astype(np.float64)
 
-    def write(self, attrib: str, value: Any, domain: str = 'all'):
+    def write(self, attrib: str | List[str], value: Any | List[Any] | List[ArrayLike], domain: str = 'all'):
         """Writes a value to the logger.
 
         Args:
@@ -64,12 +64,16 @@ class Logger(Advanceable):
             value (Any): The value to log.
             domain (str, optional): The domain the value belongs to. Defaults to 'any'.
         """
-        name = f'{domain}/{attrib}'
+        if not isinstance(attrib, str):
+            for attr, val in zip(attrib, value):
+                self.write(attr, val, domain=domain)
+        else:
+            name = f'{domain}/{attrib}'
 
-        if name not in self.__df.columns:
+            if name not in self.__df.columns:
-            self.__df[name] = pd.Series([pd.NA] * len(self.__df))
+                self.__df[name] = pd.Series([pd.NA] * len(self.__df))
 
-        self.__df.at[self.__idx, name] = value
+            self.__df.at[self.__idx, name] = value
 
     def get_dataframe(self) -> pd.DataFrame:
         return self.__df

spatz/models/kalman.py

@@ -6,6 +6,9 @@ from numpy.typing import ArrayLike
 
 def inv(val):
     if np.isscalar(val):
+        if val == 0:
+            return 0
+
         return 1 / val
     
     if len(val) == 1:
@@ -76,6 +79,8 @@ class KalmanFilter:
         H = self.__H
         R = self.__R
 
+        n = len(x)
+
         if hasattr(self.__H, '__call__'):
             H = self.__H(dt)
 
@@ -86,9 +91,9 @@ class KalmanFilter:
         K = err @ H.T @ inv(H @ err @ H.T + R)
 
         # Compute the corrected state.
-        x = x + K @ (z - H @ x)
+        x = x + (K @ (z - H @ x)).T
 
         # Compute the error after correction.
-        err = (np.identity('TODO') - K @ H) @ err
+        err = (np.identity(n) - K @ H) @ err
 
-        return x, err
+        return np.squeeze(np.asarray(x)), err

spatz/models/pressure.py

@@ -19,7 +19,7 @@ class AltitudeModel:
             alt_b (float, optional): The reference altitude in meters. Defaults to 0m.
             unit (PressUnit, optional): The unit used for all pressure values. Defaults to PressUnit.hPa.
         """
-        self.__press_0 = press_b / (1 - (alt_b / 44330)**5255)
+        self.__press_0 = press_b / (1 - (alt_b / 44330)**5.255)
 
     def predict(self, press: float, unit: PressUnit = PressUnit.hPa) -> float:
         """Estimates the altitude based on a pressure measurement.
@@ -41,4 +41,4 @@ class AltitudeModel:
 
             press = to_hpa[unit]
 
-        return 44330 * (1 - (press / self.__press_0)**(1 / 5255))
+        return 44330 * (1 - (press / self.__press_0)**(1 / 5.255))

spatz/observer/observer.py

@@ -24,8 +24,15 @@ class Observer:
     def _log(self, name: AnyStr, value: Any):
         self._logger.write(name, value, self._get_name())
 
-    def __call__(self) -> ArrayLike:
+    def get_start_value(self) -> ArrayLike:
-        data = self._dataset.fetch_values(self.__attrs)
+        """
+        Returns:
+            ArrayLike: Returns the values of the observed attributes at the start of the simulation.
+        """
+        return self(t=self._dataset.get_start_time())
+
+    def __call__(self, t: float | None = None) -> ArrayLike:
+        data = self._dataset.fetch_values(self.__attrs, t)
 
         for attrib, value in zip(self.__attrs, data):
             self._log(attrib, value)

spatz/sensors/imu/bhi160.py

@@ -1,4 +1,4 @@
-from typing import List
+from typing import List, AnyStr
 
 from numpy.typing import ArrayLike
 from spatz.dataset import ArrayLike, Dataset
@@ -8,13 +8,27 @@ from spatz.transforms import Transform
 
 
 class BHI160Gyro(Gyroscope):
-    def __init__(self, dataset: Dataset, logger: Logger, offset: float = 0, transforms: List[Transform] = ...):
+    def __init__(self, dataset: Dataset, logger: Logger, offset: float = 0, transforms: List[Transform] = []):
         super().__init__(dataset, logger, offset, transforms)
 
+    def _get_name(self) -> AnyStr:
+        return 'BHI160'
+
     def _get_data(self) -> ArrayLike:
         rots = self._dataset.fetch_values(['roll_l', 'pitch_l', 'yaw_l'])
 
-        
+        return rots
 
     def _sensor_specific_effects(self, x: ArrayLike) -> ArrayLike:
         return x
+    
+
+class BHI160Acc(Accelerometer):
+    def __init__(self, dataset: Dataset, logger: Logger, offset: float = 0, transforms: List[Transform] = []):
+        super().__init__(dataset, logger, offset, transforms)
+
+    def _get_name(self) -> AnyStr:
+        return 'BHI160'
+    
+    def _sensor_specific_effects(self, x: ArrayLike) -> ArrayLike:
+        return x

spatz/sensors/pressure/ms5611_01ba03.py

@@ -8,8 +8,8 @@ from spatz.transforms import GaussianNoise, Transform
 
 
 class MS5611_01BA03(PressureSensor):
-    def __init__(self, dataset: Dataset, logger: Logger, transforms: List[Transform] = []):
+    def __init__(self, dataset: Dataset, logger: Logger, transforms: List[Transform] = [], ts_effects=True):
-        super().__init__(dataset, logger, transforms)
+        super().__init__(dataset, logger, transforms, ts_effects)
 
         # Noise model obtained by a test flight using this sensor.
         self.__pad_noise = GaussianNoise(0, 0.03)

spatz/sensors/pressure/pressure.py

@@ -21,6 +21,9 @@ class PressureSensor(Sensor):
 
         self._ts_effects = ts_effects
 
+    def set_transsonic_effects(self, active: bool):
+        self._ts_effects = active
+
     def _get_data(self) -> float:
         x = self._dataset.get_pressure()
 

spatz/sensors/sensor.py

@@ -39,13 +39,18 @@ class Sensor:
     @abstractmethod
     def _get_data(self) -> ArrayLike | float:
         raise NotImplementedError()
+    
+    def get_init_data() -> ArrayLike:
+        pass
 
     def __call__(self) -> ArrayLike | float:
         out = self._get_data()
         out = self._sensor_specific_effects(out)
 
+        t = self._dataset.get_time()
+
         for transform in self._transforms:
-            out = transform(out)
+            out = transform(t, out)
 
         # Log the outputs of the sensor.
         if np.isscalar(out):

spatz/simulation.py

@@ -35,7 +35,6 @@ class UniformTimeSteps:
         return self.__dt + noise
 
 
-
 class Simulation:
     def __init__(self, time_steps=UniformTimeSteps(0.01)):
         self.__dataset = None
@@ -123,4 +122,3 @@ class Simulation:
 
         return self.__sensors[-1]
 
-    

spatz/transforms/failures.py

@@ -26,4 +26,9 @@ class Downtime(Transform):
         if self.__state == 1:
             return x
         
-        return np.zeros_like(x)
+        if np.isscalar(x):
+            x = 0
+        else:
+            x = np.zeros_like(x)
+        
+        return x