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337 lines
10 KiB
Python
337 lines
10 KiB
Python
import math
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import numpy as np
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import pandas as pd
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from enum import Enum
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from typing import List
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from numpy.typing import ArrayLike
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from scipy.spatial.transform import Rotation
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from spatz.logger import Advanceable
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class Phase(Enum):
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ONPAD = 1
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LOI = 2
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RCI = 3
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ECI = 4
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ADI = 5
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class Dataset(Advanceable):
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def __init__(self, path: str, interpolation: str = 'linear'):
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"""A wrapper class for a Pandas dataframe containing simulation data.
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Args:
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df (pd.DataFrame): A Pandas dataframe containing simulation data.
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interpolation (str, optional): The interpolation method for obtaining new data points. Defaults to 'linear'.
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"""
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super().__init__()
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self.__df = pd.read_csv(path)
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self.__idx = 0
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self.__interpolation = interpolation
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# Find the liftoff time.
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self.__loi = self.__df['time'][self.__df['phase'] == Phase.LOI].min()
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self.__rci = self.__df['time'][self.__df['phase'] == Phase.RCI].min()
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self.__eci = self.__df['time'][self.__df['phase'] == Phase.ECI].min()
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self.__adi = self.__df['time'][self.__df['phase'] == Phase.ADI].min()
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def _on_reset(self):
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pass
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def _on_step(self, _: float):
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idx = (self.__df['time'] - self.get_time()).abs().idxmin()
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self.__idx = idx if self.__df['time'].loc[idx] < self.get_time() else idx - 1
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def get_phase(self) -> Phase:
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"""
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Returns:
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Phase: Get the current phase of the flight.
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"""
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t = self.get_time()
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if t < self.__loi:
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return Phase.ONPAD
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if t < self.__rci:
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return Phase.LOI
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if t < self.__eci:
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return Phase.RCI
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if t < self.__adi:
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return Phase.ECI
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return Phase.ADI
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def get_time_until(self, phase: Phase) -> float:
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"""Returns how much time is left until the given phase is reached.
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Negative values represent the time that has passed since the phase was
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reached.
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Args:
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phase (Phase): A phase of the flight.
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Returns:
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float: Time until or since the phase was reached.
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"""
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t = self.get_time()
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switch = {
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Phase.ONPAD: 0 - t,
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Phase.LOI: self.__loi - t,
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Phase.RCI: self.__rci - t,
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Phase.ECI: self.__eci - t,
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Phase.ADI: self.__adi - t
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}
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return switch.get(phase)
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def get_length(self) -> float:
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"""Returns the time horizon of this dataset.
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Returns:
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float: The last time step in the dataset.
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"""
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return max(self.__df['time'])
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@staticmethod
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def T1(angle):
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# return Rotation.from_euler('X', angle, degrees=False).as_matrix()
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return np.array([
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[1, 0, 0],
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[0, math.cos(angle), math.sin(angle)],
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[0, -math.sin(angle), math.cos(angle)],
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])
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@staticmethod
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def T2(angle):
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# return Rotation.from_euler('Y', angle, degrees=False).as_matrix()
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return np.array([
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[math.cos(angle), 0, -math.sin(angle)],
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[0, 1, 0],
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[math.sin(angle), 0, math.cos(angle)]
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])
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@staticmethod
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def T3(angle):
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# return Rotation.from_euler('Z', angle, degrees=False).as_matrix()
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return np.array([
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[math.cos(angle), math.sin(angle), 0],
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[-math.sin(angle), math.cos(angle), 0],
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[0, 0, 1]
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])
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def local_to_body(self) -> ArrayLike:
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"""
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Returns:
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ArrayLike: The current transformation matrix from local to body-fixed coords.
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"""
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# Get the rotation in the local coordinate system.
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rots = self.__fetch_values(['pitch_l', 'yaw_l', 'roll_l'])
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pitch_l, yaw_l, roll_l = rots[0], rots[1], rots[2]
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return self.T1(roll_l) @ self.T2(pitch_l - math.pi/2) @ self.T1(-yaw_l)
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def global_to_local(self) -> ArrayLike:
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"""
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Returns:
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ArrayLike: The current transformation matrix from global to local coords.
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"""
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decl = self.__fetch_value('declination')
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long = self.__fetch_value('longitude')
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t0 = self.__df['time'].iloc[0]
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omega_E = (2*math.pi) / (24*60*60)
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return self.T2(-decl) @ self.T3(long + omega_E * t0)
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def global_to_launch_rail(self) -> ArrayLike:
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"""
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Returns:
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ArrayLike: The current transformation matrix from global to launch rail coords.
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"""
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init_long = self.__df['longitude'].iloc[0]
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init_lat = self.__df['latitude'].iloc[0]
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return self.T2(-math.pi/2 - init_lat) @ self.T3(init_long)
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def local_to_launch_rail(self) -> ArrayLike:
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"""
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Returns:
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ArrayLike: The current transformation matrix from local to launch rail coords.
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"""
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return self.global_to_launch_rail() @ np.linalg.inv(self.global_to_local())
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def launch_rail_to_body(self) -> ArrayLike:
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"""
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Returns:
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ArrayLike: The current transformation matrix from launch rail to local coords.
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"""
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return self.local_to_body() @ np.linalg.inv(self.local_to_launch_rail())
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def is_transsonic(self) -> bool:
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"""
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Returns:
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bool: Returns True if the rocket is flying with transsonic speed at the current time of the simulation.
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"""
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mach = self.get_mach_number()
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return mach > 0.8 and mach < 1.2
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def is_supersonic(self) -> bool:
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"""
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Returns:
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bool: True if the rocket is flying with supersonic speed at the current time of the simulation.
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"""
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return self.get_mach_number() > 1
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def __fetch_value(self, name: str) -> float:
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"""Get a specific value from the dataframe.
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Args:
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name (str): The name of the value to fetch.
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Returns:
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float: Returns the requested value.
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"""
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if self.__interpolation == 'linear':
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t_min = self.__df['time'].iloc[self.__idx]
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t_max = self.__df['time'].iloc[self.__idx + 1]
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# Sometimes no time passes in-between two samples.
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if t_max == t_min:
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return self.__df[name].iloc[self.__idx]
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# Compute the weight for interpolation.
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alpha = (self.get_time() - t_min) / (t_max - t_min)
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# Interpolate linearly between the two data points.
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return (1 - alpha) * self.__df[name].iloc[self.__idx] + alpha * self.__df[name].iloc[self.__idx + 1]
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def __fetch_values(self, names: List[str]) -> np.array:
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"""Get specific values from the dataframe.
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Args:
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names (List[str]): Names of the values to get.
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Returns:
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np.array: Returns a numpy array containing the requested values in the same order as in the input list.
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"""
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return np.asarray([self.__fetch_value(name) for name in names])
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def get_velocity(self) -> float:
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"""
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Returns:
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np.array: Returns the velocity at the current time of the simulation.
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"""
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return self.__fetch_value('velocity')
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def get_acceleration(self, frame='FL') -> ArrayLike:
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"""_summary_
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Args:
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frame (str, optional): _description_. Defaults to 'FL'.
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Returns:
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ArrayLike: _description_
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"""
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acc = self.__fetch_values(['ax', 'ay', 'az'])
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if frame == 'B':
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return self.launch_rail_to_body() @ acc
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return acc
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def get_angular_velocities(self) -> ArrayLike:
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"""
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Returns:
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ArrayLike: Gets the derivatives in angular velocity across all axes of the rocket.
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"""
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return self.__fetch_values(['omega_X', 'omega_Y', 'omega_Z'])
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def get_velocity(self, frame='FL') -> ArrayLike:
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"""
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Args:
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frame (str, optional): _description_. Defaults to 'FL'.
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Returns:
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ArrayLike: _description_
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"""
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vel = self.__fetch_values(['vx', 'vy', 'vz'])
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if frame == 'B':
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return self.launch_rail_to_body() @ vel
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return vel
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def get_mach_number(self) -> float:
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"""
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Returns:
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float: Returns the mach number at the current time of the simulation.
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"""
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return self.__fetch_value('mach')
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def get_speed_of_sound(self) -> float:
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"""
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Returns:
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float: Returns the speed of sound at the current time of the simulation.
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"""
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return self.__fetch_value('speedofsound')
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def get_rotation_rates(self) -> np.array:
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"""
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Returns:
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np.array: Returns the rotation rates at the current time of the simulation.
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"""
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return self.__fetch_values(['OMEGA_X', 'OMEGA_Y', 'OMEGA_Z'])
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def get_rotation(self) -> np.array:
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"""
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Returns:
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np.array: _description_
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"""
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return self.__fetch_values(['pitch_l', 'yaw_l', 'roll_l'])
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def get_temperature(self) -> float:
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"""
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Returns:
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np.array: Returns the temperature at the current time of the simulation.
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"""
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return self.__fetch_value('temperature')
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def get_pressure(self) -> float:
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"""
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Returns:
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np.array: Returns the pressure at the current time of the simulation.
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"""
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return self.__fetch_value('pressure')
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def get_thrust(self) -> float:
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"""
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Returns:
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float: Returns the thrust value for the current time of the simulation.
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"""
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return self.__fetch_value('thrust')
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def get_drag(self) -> float:
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"""
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Returns:
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float: Returns the drag value for the current time of the simulation.
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"""
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return self.__fetch_value('drag')
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def get_mass(self) -> float:
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"""
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Returns:
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float: Returns the mass value for the current time of the simulation.
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"""
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return self.__fetch_value('mass')
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if __name__ == '__main__':
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pass |