82 lines
3.2 KiB
Python
82 lines
3.2 KiB
Python
import numpy as np
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"""
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Lissajous curves are defined by trigonometric functions parameterized in time.
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See https://en.wikipedia.org/wiki/Lissajous_curve
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"""
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class TwoDLissajous(object):
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"""
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The standard Lissajous on the XY curve as defined by https://en.wikipedia.org/wiki/Lissajous_curve
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This is planar in the XY plane at a fixed height.
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"""
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def __init__(self, A=1, B=1, a=1, b=1, delta=0, x_offset=0, y_offset=0, height=0, yaw_bool=False):
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"""
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This is the constructor for the Trajectory object. A fresh trajectory
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object will be constructed before each mission.
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Inputs:
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A := amplitude on the X axis
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B := amplitude on the Y axis
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a := frequency on the X axis
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b := frequency on the Y axis
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delta := phase offset between the x and y parameterization
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x_offset := the offset of the trajectory in the x axis
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y_offset := the offset of the trajectory in the y axis
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height := the z height that the lissajous occurs at
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yaw_bool := determines whether the vehicle should yaw
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"""
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self.A, self.B = A, B
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self.a, self.b = a, b
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self.delta = delta
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self.height = height
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self.x_offset = x_offset
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self.y_offset = y_offset
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self.yaw_bool = yaw_bool
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def update(self, t):
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"""
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Given the present time, return the desired flat output and derivatives.
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Inputs
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t, time, s
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Outputs
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flat_output, a dict describing the present desired flat outputs with keys
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x, position, m
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x_dot, velocity, m/s
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x_ddot, acceleration, m/s**2
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x_dddot, jerk, m/s**3
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x_ddddot, snap, m/s**4
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yaw, yaw angle, rad
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yaw_dot, yaw rate, rad/s
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"""
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x = np.array([self.x_offset + self.A*np.sin(self.a*t + self.delta),
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self.y_offset + self.B*np.sin(self.b*t),
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self.height])
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x_dot = np.array([self.a*self.A*np.cos(self.a*t + self.delta),
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self.b*self.B*np.cos(self.b*t),
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0])
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x_ddot = np.array([-(self.a)**2*self.A*np.sin(self.a*t + self.delta),
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-(self.b)**2*self.B*np.sin(self.b*t),
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0])
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x_dddot = np.array([-(self.a)**3*self.A*np.cos(self.a*t + self.delta),
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-(self.b)**3*self.B*np.cos(self.b*t),
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0])
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x_ddddot = np.array([(self.a)**4*self.A*np.sin(self.a*t + self.delta),
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(self.b)**4*self.B*np.sin(self.b*t),
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0])
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if self.yaw_bool:
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yaw = np.pi/4*np.sin(np.pi*t)
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yaw_dot = np.pi*np.pi/4*np.cos(np.pi*t)
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yaw_ddot = np.pi*np.pi*np.pi/4*np.cos(np.pi*t)
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else:
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yaw = 0
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yaw_dot = 0
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yaw_ddot = 0
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flat_output = { 'x':x, 'x_dot':x_dot, 'x_ddot':x_ddot, 'x_dddot':x_dddot, 'x_ddddot':x_ddddot,
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'yaw':yaw, 'yaw_dot':yaw_dot, 'yaw_ddot':yaw_ddot}
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return flat_output
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