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test.py
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229 lines (207 loc) · 13.6 KB
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import numpy as np
import matplotlib.pyplot as plt
import time
import cProfile
from quadFiles.quad import Quadcopter
from utils.windModel import Wind
import utils
import config
from controllers.open_loop_controller import OpenLoopController
from controllers.mppi_controller import MppiController
from controllers.pid_controller import PidController
from controllers.optimal_controller import OptimalController
def sim_step(t, Ts, quad, ctrl, wind, traj=None):
quad.update(t, Ts, ctrl.w_cmd, wind)
t += Ts
sDes = traj#traj.desiredState(t, Ts, quad)
# Set control command for next timestep
ctrl.control(quad, sDes, Ts) # traj
return t
def main():
traj = np.array([[ -1, 0., -8., 1., 0.,
0., 0., 0., 0., 0.,
0., 0., 0., 522.98471407, 0.,
522.98471407, 0., 522.98471407, 0., 522.98471407, 0.],
[ -2, 1., 0., 1., 0.,
0., 0., 0., 0., 0.,
0., 0., 0., 522.98471407, 0.,
522.98471407, 0., 522.98471407, 0., 522.98471407, 0.],
[ -2, 1., -4., 1., 0.,
0., 0., 0., 0., 0.,
0., 0., 0., 522.98471407, 0.,
522.98471407, 0., 522.98471407, 0., 522.98471407, 0.],
[ 0, 0., -4., 1., 0.,
0., 0., 0., 0., 0.,
0., 0., 0., 522.98471407, 0.,
522.98471407, 0., 522.98471407, 0., 522.98471407, 0.],
[ 0, 0., -3., 1., 0.,
0., 0., 0., 0., 0.,
0., 0., 0., 522.98471407, 0.,
522.98471407, 0., 522.98471407, 0., 522.98471407, 0.],
[ 0, 0., -5., 1., 0.,
0., 0., 0., 0., 0.,
0., 0., 0., 522.98471407, 0.,
522.98471407, 0., 522.98471407, 0., 522.98471407, 0.],
[ 0, 0., -4., 1., 0.,
0., 0., 0., 0., 0.,
0., 0., 0., 522.98471407, 0.,
522.98471407, 0., 522.98471407, 0., 522.98471407, 0.],
[ 1, -2, -4., 1., 0.,
0., 0., 0., 0., 0.,
0., 0., 0., 522.98471407, 0.,
522.98471407, 0., 522.98471407, 0., 522.98471407, 0.]], dtype=np.float32)
traj = np.array([[ -5, -5., 0., 1., 0.,
0., 0., 0., 0., 0.,
0., 0., 0., 522.98471407, 0.,
522.98471407, 0., 522.98471407, 0., 522.98471407, 0.],
[ 5, -5., 0., 1., 0.,
0., 0., 0., 0., 0.,
0., 0., 0., 522.98471407, 0.,
522.98471407, 0., 522.98471407, 0., 522.98471407, 0.],
[ 5, 5., 0., 1., 0.,
0., 0., 0., 0., 0.,
0., 0., 0., 522.98471407, 0.,
522.98471407, 0., 522.98471407, 0., 522.98471407, 0.],
[ -5, 5., 0., 1., 0.,
0., 0., 0., 0., 0.,
0., 0., 0., 522.98471407, 0.,
522.98471407, 0., 522.98471407, 0., 522.98471407, 0.],
[ -5, -5., 0., 1., 0.,
0., 0., 0., 0., 0.,
0., 0., 0., 522.98471407, 0.,
522.98471407, 0., 522.98471407, 0., 522.98471407, 0.],
[ -5, -5., -8., 1., 0.,
0., 0., 0., 0., 0.,
0., 0., 0., 522.98471407, 0.,
522.98471407, 0., 522.98471407, 0., 522.98471407, 0.],
[ 5, -5., -8., 1., 0.,
0., 0., 0., 0., 0.,
0., 0., 0., 522.98471407, 0.,
522.98471407, 0., 522.98471407, 0., 522.98471407, 0.],
[ 5, 5, -8., 1., 0.,
0., 0., 0., 0., 0.,
0., 0., 0., 522.98471407, 0.,
522.98471407, 0., 522.98471407, 0., 522.98471407, 0.],
[ -5, 5., -8., 1., 0.,
0., 0., 0., 0., 0.,
0., 0., 0., 522.98471407, 0.,
522.98471407, 0., 522.98471407, 0., 522.98471407, 0.],
[ -5, -5., -8., 1., 0.,
0., 0., 0., 0., 0.,
0., 0., 0., 522.98471407, 0.,
522.98471407, 0., 522.98471407, 0., 522.98471407, 0.]], dtype=np.float32)
traj = np.array([[ -1, -1., 0., 1., 0.,
0., 0., 0., 0., 0.,
0., 0., 0., 522.98471407, 0.,
522.98471407, 0., 522.98471407, 0., 522.98471407, 0.],
[ 1, -1., 0., 1., 0.,
0., 0., 0., 0., 0.,
0., 0., 0., 522.98471407, 0.,
522.98471407, 0., 522.98471407, 0., 522.98471407, 0.],
[ 1, 1., 0., 1., 0.,
0., 0., 0., 0., 0.,
0., 0., 0., 522.98471407, 0.,
522.98471407, 0., 522.98471407, 0., 522.98471407, 0.],
[ -1, 1., 0., 1., 0.,
0., 0., 0., 0., 0.,
0., 0., 0., 522.98471407, 0.,
522.98471407, 0., 522.98471407, 0., 522.98471407, 0.],
[ -1, -1., 0., 1., 0.,
0., 0., 0., 0., 0.,
0., 0., 0., 522.98471407, 0.,
522.98471407, 0., 522.98471407, 0., 522.98471407, 0.],
[ -1, -1., -1., 1., 0.,
0., 0., 0., 0., 0.,
0., 0., 0., 522.98471407, 0.,
522.98471407, 0., 522.98471407, 0., 522.98471407, 0.],
[ 1, -1., -1., 1., 0.,
0., 0., 0., 0., 0.,
0., 0., 0., 522.98471407, 0.,
522.98471407, 0., 522.98471407, 0., 522.98471407, 0.],
[ 1, 1, -1., 1., 0.,
0., 0., 0., 0., 0.,
0., 0., 0., 522.98471407, 0.,
522.98471407, 0., 522.98471407, 0., 522.98471407, 0.],
[ -1, 1., -1., 1., 0.,
0., 0., 0., 0., 0.,
0., 0., 0., 522.98471407, 0.,
522.98471407, 0., 522.98471407, 0., 522.98471407, 0.],
[ -1, -1., -1., 1., 0.,
0., 0., 0., 0., 0.,
0., 0., 0., 522.98471407, 0.,
522.98471407, 0., 522.98471407, 0., 522.98471407, 0.]], dtype=np.float32)
# ACTIONS: 0: front left, 1: front right, 2: back right, 3: back left
# Set simulation variables
Ti = 0 # Time initial
Ts = 0.005 # Time steps
Tf = 25#50 # Time final
quad = Quadcopter(Ti)
#quad.get_linearized()
#return
#quad.get_linearized()
ctrl = OptimalController(quad)
#print("A: ", other.A)
#print("B: ", other.B)
#ctrl = PidController(quad)#MppiController(quad)#OpenLoopController(quad)#
#ctrl = OpenLoopController(quad)
wind = Wind('NONE', 2.0, 90, -15) #'NONE' 'FIXED'
# Initialize values to track for visualization
numTimeStep = int(Tf/Ts+1)
t_all = np.zeros(numTimeStep)
s_all = np.zeros([numTimeStep, len(quad.state)])
pos_all = np.zeros([numTimeStep, len(quad.pos)])
vel_all = np.zeros([numTimeStep, len(quad.vel)])
quat_all = np.zeros([numTimeStep, len(quad.quat)])
omega_all = np.zeros([numTimeStep, len(quad.omega)])
euler_all = np.zeros([numTimeStep, len(quad.euler)])
#sDes_traj_all = np.zeros([numTimeStep, len(traj.sDes)])
sDes_calc_all = np.zeros([numTimeStep, len(ctrl.sDesCalc)])
w_cmd_all = np.zeros([numTimeStep, len(ctrl.w_cmd)])
wMotor_all = np.zeros([numTimeStep, len(quad.wMotor)])
thr_all = np.zeros([numTimeStep, len(quad.thr)])
tor_all = np.zeros([numTimeStep, len(quad.tor)])
t_all[0] = Ti
s_all[0,:] = quad.state
pos_all[0,:] = quad.pos
vel_all[0,:] = quad.vel
quat_all[0,:] = quad.quat
omega_all[0,:] = quad.omega
euler_all[0,:] = quad.euler
#sDes_traj_all[0,:] = traj.sDes
sDes_calc_all[0,:] = ctrl.sDesCalc
w_cmd_all[0,:] = ctrl.w_cmd
wMotor_all[0,:] = quad.wMotor
thr_all[0,:] = quad.thr
tor_all[0,:] = quad.tor
t = Ti
i = 1
cnt = 0
while round(t, 3) < Tf:
#quad.update(t, Ts, cmd, wind)
t = sim_step(t, Ts, quad, ctrl, wind, traj[cnt])
if np.linalg.norm(traj[cnt][:3] - quad.state[:3] ) < 0.1 and cnt != len(traj)-1:
cnt += 1
t_all[i] = t
s_all[i,:] = quad.state
pos_all[i,:] = quad.pos
vel_all[i,:] = quad.vel
quat_all[i,:] = quad.quat
omega_all[i,:] = quad.omega
euler_all[i,:] = quad.euler
#sDes_traj_all[i,:] = traj.sDes
sDes_calc_all[i,:] = ctrl.sDesCalc
w_cmd_all[i,:] = ctrl.w_cmd
wMotor_all[i,:] = quad.wMotor
thr_all[i,:] = quad.thr
tor_all[i,:] = quad.tor
#print("QUAD POSE: ", quad.pos)
print("QUAD STATE: ", quad.state)
i += 1
#utils.makeFigures(quad.params, t_all, pos_all, vel_all, quat_all, omega_all, euler_all, w_cmd_all, wMotor_all, thr_all, tor_all, sDes_traj_all, sDes_calc_all)
#ani = utils.sameAxisAnimation(t_all, traj.wps, pos_all, quat_all, sDes_traj_all, Ts, quad.params, traj.xyzType, traj.yawType, ifsave)
#plt.show()
utils.makeFigures(quad.params, t_all, pos_all, vel_all, quat_all, omega_all, euler_all, w_cmd_all, wMotor_all, thr_all, tor_all, sDes_calc_all)
ani = utils.sameAxisAnimation(t_all, pos_all, quat_all, Ts, quad.params)
plt.show()
if __name__ == '__main__':
main()