mirror of
https://git.intern.spaceteamaachen.de/ALPAKA/SPATZ.git
synced 2025-06-10 01:55:59 +00:00
442 lines
14 KiB
Python
442 lines
14 KiB
Python
import math
|
|
|
|
import numpy as np
|
|
import pandas as pd
|
|
|
|
from enum import Enum
|
|
from typing import List, Literal
|
|
from numpy.typing import ArrayLike
|
|
from scipy.spatial.transform import Rotation
|
|
|
|
from spatz.logger import Advanceable
|
|
|
|
|
|
class Phase(Enum):
|
|
ONPAD = 1
|
|
LOI = 2
|
|
RCI = 3
|
|
ECI = 4
|
|
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.
|
|
|
|
Args:
|
|
df (pd.DataFrame): A Pandas dataframe containing simulation data.
|
|
interpolation (str, optional): The interpolation method for obtaining new data points. Defaults to 'linear'.
|
|
"""
|
|
super().__init__()
|
|
|
|
self.__df = pd.read_csv(path)
|
|
self.__idx = 0
|
|
self.__interpolation = interpolation
|
|
|
|
# Find the liftoff time.
|
|
self.__loi = self.__df['time'][self.__df['phase'] == Phase.LOI].min()
|
|
self.__rci = self.__df['time'][self.__df['phase'] == Phase.RCI].min()
|
|
self.__eci = self.__df['time'][self.__df['phase'] == Phase.ECI].min()
|
|
self.__adi = self.__df['time'][self.__df['phase'] == Phase.ADI].min()
|
|
|
|
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):
|
|
self.__idx = self._get_closest_idx(self.get_time())
|
|
|
|
def get_phase(self) -> Phase:
|
|
"""
|
|
Returns:
|
|
Phase: Get the current phase of the flight.
|
|
"""
|
|
t = self.get_time()
|
|
|
|
if t < self.__loi:
|
|
return Phase.ONPAD
|
|
|
|
if t < self.__rci:
|
|
return Phase.LOI
|
|
|
|
if t < self.__eci:
|
|
return Phase.RCI
|
|
|
|
if t < self.__adi:
|
|
return Phase.ECI
|
|
|
|
return Phase.ADI
|
|
|
|
def get_time_until(self, phase: Phase) -> float:
|
|
"""Returns how much time is left until the given phase is reached.
|
|
Negative values represent the time that has passed since the phase was
|
|
reached.
|
|
|
|
Args:
|
|
phase (Phase): A phase of the flight.
|
|
|
|
Returns:
|
|
float: Time until or since the phase was reached.
|
|
"""
|
|
t = self.get_time()
|
|
|
|
switch = {
|
|
Phase.ONPAD: 0 - t,
|
|
Phase.LOI: self.__loi - t,
|
|
Phase.RCI: self.__rci - t,
|
|
Phase.ECI: self.__eci - t,
|
|
Phase.ADI: self.__adi - t
|
|
}
|
|
|
|
return switch.get(phase)
|
|
|
|
def get_length(self) -> float:
|
|
"""Returns the time horizon of this dataset.
|
|
|
|
Returns:
|
|
float: The last time step in the dataset.
|
|
"""
|
|
return max(self.__df['time'])
|
|
|
|
def get_start_time(self) -> float:
|
|
"""
|
|
Returns:
|
|
float: Returns the starting time of the simulation.
|
|
"""
|
|
return self.fetch_start_value('time')
|
|
|
|
def fetch_start_value(self, name: str) -> float:
|
|
"""Get the initial value for a given attribute from the dataframe.
|
|
|
|
Args:
|
|
name (str): The name of the value to fetch.
|
|
|
|
Returns:
|
|
float: Returns the requested value.
|
|
"""
|
|
return self.__df.at[0, name]
|
|
|
|
def fetch_init_values(self, names: List[str]) -> ArrayLike:
|
|
"""Get the initial value for given attributes from the dataframe.
|
|
|
|
Args:
|
|
names (List[str]): Names of the values to get.
|
|
|
|
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_start_value(name) for name in names])
|
|
|
|
def fetch_value(self, name: str, t: float | None = None) -> float:
|
|
"""Get a specific value from the dataframe.
|
|
|
|
Args:
|
|
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:
|
|
float: Returns the requested value.
|
|
"""
|
|
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(t) @ acc
|
|
|
|
return acc
|
|
|
|
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'], t)
|
|
|
|
def get_velocity(self, frame: Literal['L', 'B', 'LF'] = 'LF', t: float | None = None) -> ArrayLike:
|
|
"""
|
|
Args:
|
|
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: Returns the spacecraft's velocity at a given time.
|
|
"""
|
|
|
|
vel = self.fetch_values(['vx', 'vy', 'vz'], t)
|
|
|
|
if frame == 'B':
|
|
return self.launch_rail_to_body(t) @ vel
|
|
elif frame == 'L':
|
|
return np.linalg.inv(self.local_to_launch_rail()) @ vel
|
|
|
|
return vel
|
|
|
|
def get_altitude(self, t: float | None = None) -> float:
|
|
"""
|
|
Args:
|
|
t (float | None, optional): Allows specification of a different time instead of the current time. None for current time.
|
|
|
|
Returns:
|
|
float: Returns the altitude in meter at the specified time.
|
|
"""
|
|
return self.fetch_value('altitude', t)
|
|
|
|
def get_speed_of_sound(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 speed of sound at the specified time.
|
|
"""
|
|
return self.fetch_value('speedofsound', t)
|
|
|
|
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 rotation at the specified time.
|
|
"""
|
|
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, 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', t)
|
|
|
|
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 specified time.
|
|
"""
|
|
return self.fetch_value('thrust', t)
|
|
|
|
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 specified time.
|
|
"""
|
|
return self.fetch_value('drag', t)
|
|
|
|
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 specified time.
|
|
"""
|
|
return self.fetch_value('mass', t)
|
|
|
|
|
|
if __name__ == '__main__':
|
|
pass |