Added more sensors for STAHR

spatz/sensors/imu/accelerometer.py

@@ -50,6 +50,7 @@ class Accelerometer(Sensor):
         self._orientation = orientation
 
     def _get_data(self) -> ArrayLike | float:
+        """
         acc = self._dataset.get_acceleration('global')
 
         self._logger.write('global_ax', acc[0], self._get_name())
@@ -70,6 +71,9 @@ class Accelerometer(Sensor):
         # Add the effects of the imu's offset.
         omega = self._dataset.get_angular_velocity()
         acc += (np.cross(omega, self._offset) + np.cross(omega, np.cross(omega, self._offset)))
+        """
+
+        acc = self._dataset.get_acceleration('local')
 
         return acc
     

spatz/sensors/imu/bmi088.py

@@ -30,7 +30,7 @@ class BMI088Gyro(Gyroscope):
 
 class BMI088Acc(Accelerometer):
     def __init__(self, dataset: Dataset, logger: Logger, orientation = np.identity(3), offset: float = 0, transforms: List[Transform] = []):
-        super().__init__(dataset, logger, CoordSystem.RIGHT_HANDED, orientation, offset, transforms)
+        super().__init__(dataset, logger, orientation, offset, transforms)
 
         self.__noise = GaussianNoise(0, 0.05)
 

spatz/sensors/imu/iam_20380ht.py

@@ -0,0 +1,21 @@
+import numpy as np
+
+from typing import List, AnyStr
+
+from numpy.typing import ArrayLike
+from spatz.dataset import ArrayLike, Dataset
+from spatz.logger import ArrayLike, Logger
+from spatz.sensors import IMU, Accelerometer, Gyroscope, CoordSystem
+from spatz.transforms import Transform, GaussianNoise
+
+
+class IAM_20380HT(Gyroscope):
+    def __init__(self, dataset: Dataset, logger: Logger,  orientation=np.identity(3), transforms: List[Transform] = []):
+        super().__init__(dataset, logger, orientation, transforms)
+
+    def _get_name(self) -> AnyStr:
+        return 'IAM-20380HT'
+
+    def _sensor_specific_effects(self, x: ArrayLike) -> ArrayLike:
+        return x
+    

spatz/sensors/imu/sca3300.py

@@ -0,0 +1,26 @@
+import numpy as np
+
+from typing import List, AnyStr
+
+from numpy.typing import ArrayLike
+from spatz.dataset import Dataset
+from spatz.logger import Logger
+from spatz.sensors import Accelerometer
+from spatz.transforms import Transform, GaussianNoise
+
+
+class SCA3300(Accelerometer):
+    def __init__(self, dataset: Dataset, logger: Logger, orientation=np.identity(3), offset=0, transforms: List[Transform] = []):
+        super().__init__(dataset, logger, orientation, offset, transforms)
+
+        self.__noise = GaussianNoise(0, 0.001)
+
+    def _get_name(self) -> AnyStr:
+        return 'SCA3300'
+    
+    def _sensor_specific_effects(self, x: ArrayLike) -> ArrayLike:
+        x /= 9.81
+
+        x[0], x[1] = x[1], x[0]
+
+        return self.__noise(0, x)

spatz/simulations/advanceable.py

@@ -2,7 +2,7 @@ from abc import abstractmethod
 
 
 class Advanceable:
-    def __init__(self) -> None:
+    def __init__(self, initial_time=0) -> None:
         self.reset()
 
     def advance(self, dt: float):

spatz/simulations/astos_source.py

@@ -1,4 +1,5 @@
 import numpy as np
+import math
 
 from typing import Literal
 from numpy.typing import NDArray
@@ -6,48 +7,96 @@ from numpy.typing import NDArray
 from spatz.simulations.csv_source import CSVSource
 
 
+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 ASTOSSource(CSVSource):
     def __init__(self, path: str, interpolation: Literal['linear'] = 'linear') -> None:
         super().__init__(path, 'time', interpolation)
 
-    def get_length(self) -> float:
-        pass
-
     def get_position(self) -> NDArray:
         return self.fetch_values(['x', 'y', 'z'])
 
     def get_velocity(self, frame: Literal['global', 'local']) -> NDArray:
-        if frame == 'local':
-            pass
+        vel = self.fetch_values(['vx', 'vy', 'vz'])
 
-        return self.fetch_values(['vx', 'vy', 'vz'])
+        if frame == 'local':
+            return self.global_to_local() @ vel
+        
+        return vel
 
     def get_acceleration(self, frame: Literal['global', 'local']) -> NDArray:
-        if frame == 'local':
-            pass
+        acc = self.fetch_values(['ax', 'ay', 'az'])
 
-        return self.fetch_values(['ax', 'ay', 'az'])
+        if frame == 'local':
+            return self.global_to_local() @ acc
+        
+        return acc
 
     def get_attitude(self) -> NDArray:
-        pass
+        raise NotImplementedError()
 
     def local_to_global(self) -> NDArray:
-        pass
+        return self.global_to_local().T
     
     def global_to_local(self) -> NDArray:
-        pass
+        # ASTOS local to body
+        rots = self.fetch_values(['pitch_l', 'yaw_l', 'roll_l'])
+        pitch_l, yaw_l, roll_l = rots[0], rots[1], rots[2]
+        local_to_body = T1(roll_l) @ T2(pitch_l - math.pi/2) @ T1(-yaw_l)
+
+        # ASTOS global to launch rail.
+        init_long = self.fetch_init_value('longitude')
+        init_lat = self.fetch_init_value('latitude')
+        global_to_launch_rail = T2(-math.pi/2 - init_lat) @ T3(init_long)
+
+        # ASTOS global to local.
+        decl = self.fetch_value('declination')
+        long = self.fetch_value('longitude')
+        t0 = self.get_start_time()
+        omega_E = (2*math.pi) / (24*60*60)
+        global_to_local = T2(-decl) @ T3(long + omega_E * t0)
+
+        # ASTOS local to launch rail inverted
+        local_to_launch_rail_inv = global_to_launch_rail @ global_to_local
+
+        return local_to_body @ local_to_launch_rail_inv
     
     def get_angular_velocity(self) -> NDArray:
-        pass
+        return self.fetch_values(['OMEGA_X', 'OMEGA_Y', 'OMEGA_Z'])
     
     def get_static_pressure(self) -> float:
-        pass
+        return self.fetch_value('pressure')
     
     def get_longitude(self) -> float:
-        pass
+        return self.fetch_value('longitude')
     
     def get_latitude(self) -> float:
-        pass
+        return self.fetch_value('latitude')
     
     def get_altitude(self) -> float:
-        pass
+        return self.fetch_value('altitude')

spatz/simulations/csv_source.py

@@ -15,15 +15,19 @@ class CSVSource(DataSource):
         Args:
             time_col (str): The name of the column that contains time data.
         """
-        super().__init__()
-
         self._df = pd.read_csv(path)
         self._time_col = time_col
         self._idx = 0
         self._interpolation = interpolation
+        self.__init_t = min(self._df[self._time_col])
+
+        super().__init__(initial_time=self.__init_t)
 
     def get_length(self) -> float:
         return max(self._df[self._time_col])
+    
+    def get_start_time(self) -> float:
+        return self.__init_t
 
     def _on_reset(self):
         pass
@@ -64,7 +68,7 @@ class CSVSource(DataSource):
 
             # Sometimes no time passes in-between two samples.
             if t_max == t_min:
-                return self._df.at[name, idx]
+                return self._df.at[idx, name]
             
             # Compute the weight for interpolation.
             alpha = (self.get_time() - t_min) / (t_max - t_min)
@@ -88,4 +92,26 @@ class CSVSource(DataSource):
         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, custom_interpolation) for name in names])
+        return np.asarray([self.fetch_value(name, t, custom_interpolation) for name in names])
+    
+    def fetch_init_value(self, name: str, custom_interpolation=None) -> float:
+        """Get a specific start value from the dataframe.
+
+        Args:
+            name (str): Name of the value to get.
+
+        Returns:
+            float: Returns the requested value.
+        """
+        return self.fetch_value(name, t=self.__init_t, custom_interpolation=custom_interpolation)
+    
+    def fetch_init_values(self, names: List[str], custom_interpolation=None) -> NDArray:
+        """Get specific start values from the dataframe.
+
+        Args:
+            names (List[str]): Names of the values to get.
+
+        Returns:
+            NDArray: Returns a numpy array containing the requested values in the same order as in the input list.
+        """
+        return self.fetch_values(names, t=self.__init_t, custom_interpolation=custom_interpolation)

spatz/simulations/data_source.py

@@ -10,8 +10,8 @@ from ambiance import Atmosphere
 
 
 class DataSource(Advanceable):
-    def __init__(self) -> None:
-        super().__init__()
+    def __init__(self, initial_time=0) -> None:
+        super().__init__(initial_time=initial_time)
 
     def get_speed_of_sound(self) -> float:
         return Atmosphere(self.get_altitude()).speed_of_sound
@@ -22,52 +22,55 @@ class DataSource(Advanceable):
         return speed / self.get_speed_of_sound()
     
     def get_temperature(self) -> float:
-        return Atmosphere(self.get_altitude()).temperature
+        return Atmosphere(self.get_altitude()).temperature[0]
+    
+    def get_start_time(self) -> float:
+        return 0
 
     @abstractmethod
     def get_length(self) -> float:
-        pass
+        raise NotImplementedError()
 
     @abstractmethod
     def get_position(self) -> NDArray:
-        pass
+        raise NotImplementedError()
 
     @abstractmethod
     def get_velocity(self, frame: Literal['global', 'local']) -> NDArray:
-        pass
+        raise NotImplementedError()
 
     @abstractmethod
     def get_acceleration(self, frame: Literal['global', 'local']) -> NDArray:
-        pass
+        raise NotImplementedError()
 
     @abstractmethod
     def get_attitude(self) -> NDArray:
-        pass
+        raise NotImplementedError()
 
     @abstractmethod
     def local_to_global(self) -> NDArray:
-        pass
+        raise NotImplementedError()
 
     @abstractmethod
     def global_to_local(self) -> NDArray:
-        pass
+        raise NotImplementedError()
 
     @abstractmethod
     def get_angular_velocity(self) -> NDArray:
-        pass
+        raise NotImplementedError()
 
     @abstractmethod
     def get_static_pressure(self) -> float:
-        pass
+        raise NotImplementedError()
 
     @abstractmethod
     def get_longitude(self) -> float:
-        pass
+        raise NotImplementedError()
 
     @abstractmethod
     def get_latitude(self) -> float:
-        pass
+        raise NotImplementedError()
 
     @abstractmethod
     def get_altitude(self) -> float:
-        pass
+        raise NotImplementedError()

spatz/simulations/telemega.py

@@ -0,0 +1,27 @@
+import numpy as np
+
+from typing import Literal
+from numpy.typing import NDArray
+
+from spatz.simulations.csv_source import CSVSource
+
+class TeleMega(CSVSource):
+    def __init__(self, path: str, interpolation: Literal['linear'] = 'linear') -> None:
+        super().__init__(path, 'time', interpolation)
+
+    def get_altitude(self) -> float:
+        return self.fetch_value('altitude')
+
+    def get_acceleration(self, frame: Literal['global', 'local']) -> NDArray:
+        acc_local = self.fetch_values(['accel_x', 'accel_y', 'accel_z'])
+
+        if frame == 'global':
+            raise NotImplementedError()
+        
+        return acc_local
+    
+    def get_angular_velocity(self) -> NDArray:
+        return self.fetch_values(['gyro_roll', 'gyro_pitch', 'gyro_yaw'])
+    
+    def get_static_pressure(self) -> float:
+        return self.fetch_value('pressure')