From 6a2f7527e7ccceaa5de85b4fc9724084dfc52dd7 Mon Sep 17 00:00:00 2001
From: sayanmitracode <sayan.mitra@gmail.com>
Date: Mon, 4 Jul 2022 12:50:09 -0500
Subject: [PATCH] states added for f16
---
demo/F16/F16_waypoint_scene.py | 42 +++++++++++++++++++++++++++++++
demo/F16/aerobench/run_f16_sim.py | 2 +-
2 files changed, 43 insertions(+), 1 deletion(-)
diff --git a/demo/F16/F16_waypoint_scene.py b/demo/F16/F16_waypoint_scene.py
index 8984fc18..f4376fa8 100644
--- a/demo/F16/F16_waypoint_scene.py
+++ b/demo/F16/F16_waypoint_scene.py
@@ -8,6 +8,7 @@ from typing import Tuple, List
import numpy as np
from scipy.integrate import ode
+from enum import Enum, auto
from dryvr_plus_plus.scene_verifier.agents.base_agent import BaseAgent
from dryvr_plus_plus.scene_verifier.map.lane_map import LaneMap
@@ -25,6 +26,46 @@ from aerobench.visualize import plot
from waypoint_autopilot import WaypointAutopilot
+
+class F16Mode(Enum):
+ '''Defines the discrete modes of a single agent'''
+ Normal = auto()
+ # TODO: The one mode of this automation is called "Normal" and auto assigns it an integer value.
+
+
+class State:
+ '''Defines the state variables of the model
+ Both discrete and continuous variables.
+ Initial values defined here do not matter.
+ '''
+ mode: F16Mode
+ ### Continuous variable initial conditions ###
+ power = 9 # engine power level (0-10)
+
+ # Default alpha & beta
+ alpha = deg2rad(2.1215) # Trim Angle of Attack (rad)
+ beta = 0 # Side slip angle (rad)
+
+ # Initial Attitude
+ alt = 3800 # altitude (ft)
+ vt = 540 # initial velocity (ft/sec)
+ phi = 0 # Roll angle from wings level (rad)
+ theta = 0 # Pitch angle from nose level (rad)
+ psi = math.pi / 8 # Yaw angle from North (rad)
+
+ P = 0
+ Q = 0
+ R = 0
+ pn = 0
+ pe = 0
+
+ # Build Initial Condition Vectors
+ # state = [vt, alpha, beta, phi, theta, psi, P, Q, R, pn, pe, h, pow]
+ init = [vt, alpha, beta, phi, theta, psi, 0, 0, 0, 0, 0, alt, power]
+ def __init__(self, vt, alpha, beta, phi, theta, psi, P, Q, R, pn, pe, alt, power, mode:F16Mode):
+ pass
+
+
def main():
'main function'
@@ -61,6 +102,7 @@ def main():
step = 1/30
extended_states = True
+ '''Main call to simulation'''
res = run_f16_sim(init, tmax, ap, step=step, extended_states=extended_states, integrator_str='rk45')
print(f"Simulation Completed in {round(res['runtime'], 2)} seconds (extended_states={extended_states})")
diff --git a/demo/F16/aerobench/run_f16_sim.py b/demo/F16/aerobench/run_f16_sim.py
index 027303ba..bfd848e1 100644
--- a/demo/F16/aerobench/run_f16_sim.py
+++ b/demo/F16/aerobench/run_f16_sim.py
@@ -20,7 +20,7 @@ class F16Agent(BaseAgent):
'''Dynamics of an F16 aircraft
derived from Stanley Bak's python library'''
def __init__(self, id, code = None, file_name = None):
- '''Contructor for tha agent
+ '''Contructor for one F16 agent
EXACTLY one of the following should be given
file_name: name of the controller
code: pyhton string ddefning the controller
--
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