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Building and running again

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This commit is contained in:
Travis Hunter 2023-10-16 17:40:33 -06:00
parent 505a66a1be
commit 4da21707b6
9 changed files with 102 additions and 71 deletions
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4
QtRocket.h
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@ -59,13 +59,13 @@ public:
* @brief getStates returns a vector of time/state pairs generated during launch()
* @return vector of pairs of doubles, where the first value is a time and the second a state vector
*/
const std::vector<std::pair<double, Vector6>>& getStates() const { return rocket.second->getStates(); }
const std::vector<std::pair<double, StateData>>& getStates() const { return rocket.second->getStates(); }
/**
* @brief setInitialState sets the initial state of the Rocket.
* @param initState initial state vector (x, y, z, xDot, yDot, zDot, pitch, yaw, roll, pitchDot, yawDot, rollDot)
*/
void setInitialState(const std::vector<double>& initState) { rocket.second->setInitialState(initState); }
void setInitialState(const StateData& initState) { rocket.second->setInitialState(initState); }
private:
QtRocket();

8
gui/AnalysisWindow.cpp
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@ -36,7 +36,7 @@ AnalysisWindow::~AnalysisWindow()
void AnalysisWindow::onButton_plotAltitude_clicked()
{
QtRocket* qtRocket = QtRocket::getInstance();
const std::vector<std::pair<double, Vector6>>& res = qtRocket->getStates();
const std::vector<std::pair<double, StateData>>& res = qtRocket->getStates();
auto& plot = ui->plotWidget;
plot->clearGraphs();
plot->setInteraction(QCP::iRangeDrag, true);
@ -46,7 +46,7 @@ void AnalysisWindow::onButton_plotAltitude_clicked()
for (int i = 0; i < tData.size(); ++i)
{
tData[i] = res[i].first;
zData[i] = res[i].second[2];
zData[i] = res[i].second.position[2];
}
// create graph and assign data to it:
plot->addGraph();
@ -63,7 +63,7 @@ void AnalysisWindow::onButton_plotAltitude_clicked()
void AnalysisWindow::onButton_plotVelocity_clicked()
{
QtRocket* qtRocket = QtRocket::getInstance();
const std::vector<std::pair<double, Vector6>>& res = qtRocket->getStates();
const std::vector<std::pair<double, StateData>>& res = qtRocket->getStates();
auto& plot = ui->plotWidget;
plot->clearGraphs();
plot->setInteraction(QCP::iRangeDrag, true);
@ -74,7 +74,7 @@ void AnalysisWindow::onButton_plotVelocity_clicked()
for (int i = 0; i < tData.size(); ++i)
{
tData[i] = res[i].first;
zData[i] = res[i].second[5];
zData[i] = res[i].second.velocity[2];
}
// create graph and assign data to it:
plot->addGraph();

5
gui/MainWindow.cpp
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@ -123,7 +123,10 @@ void MainWindow::onButton_calculateTrajectory_clicked()
double initialVelocityX = initialVelocity * std::cos(initialAngle / 57.2958);
double initialVelocityZ = initialVelocity * std::sin(initialAngle / 57.2958);
std::vector<double> initialState = {0.0, 0.0, 0.0, initialVelocityX, 0.0, initialVelocityZ, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
//std::vector<double> initialState = {0.0, 0.0, 0.0, initialVelocityX, 0.0, initialVelocityZ, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
StateData initialState;
initialState.position = {0.0, 0.0, 0.0};
initialState.velocity = {initialVelocityX, 0.0, initialVelocityZ};
auto rocket = QtRocket::getInstance()->getRocket();
rocket->setMass(mass);
rocket->setDragCoefficient(dragCoeff);

4
model/Rocket.cpp
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@ -18,10 +18,10 @@ void Rocket::setMotorModel(const model::MotorModel& motor)
mm = motor;
}
bool Rocket::terminateCondition(const std::pair<double, Vector6>& cond)
bool Rocket::terminateCondition(const std::pair<double, StateData>& cond)
{
// Terminate propagation when the z coordinate drops below zero
if(cond.second[2] < 0)
if(cond.second.position[2] < 0)
return true;
else
return false;

2
model/Rocket.h
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@ -87,7 +87,7 @@ public:
* @param cond time/state pair
* @return true if the passed-in time/state satisfies the terminate condition
*/
bool terminateCondition(const std::pair<double, Vector6>& cond);
bool terminateCondition(const std::pair<double, StateData>& cond);
/**
* @brief setName sets the rocket name

63
sim/Propagator.cpp
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@ -24,10 +24,16 @@ namespace sim {
Propagator::Propagator(std::shared_ptr<Rocket> r)
: linearIntegrator(),
orientationIntegrator(),
//orientationIntegrator(),
rocket(r),
currentBodyState(),
worldFrameState()
currentState(),
nextState(),
currentGravity(),
currentWindSpeed(),
saveStates(true),
currentTime(0.0),
timeStep(0.01),
states()
{
@ -113,16 +119,16 @@ Propagator::Propagator(std::shared_ptr<Rocket> r)
// }));
// orientationIntegrator->setTimeStep(timeStep);
std::function<std::pair<Quaternion, Quaternion>(Quaternion&, Quaternion&)> orientationODE =
[this](Quaternion& qOri, Quaternion& qRate) -> std::pair<Quaternion, Quaternion>
{
Quaternion dOri;
Quaternion dOriRate;
// std::function<std::pair<Quaternion, Quaternion>(Quaternion&, Quaternion&)> orientationODE =
// [this](Quaternion& qOri, Quaternion& qRate) -> std::pair<Quaternion, Quaternion>
// {
// Quaternion dOri;
// Quaternion dOriRate;
Matrix4
}
// Matrix4
// }
saveStates = true;
saveStates = true;
}
Propagator::~Propagator()
@ -134,27 +140,25 @@ void Propagator::runUntilTerminate()
std::chrono::steady_clock::time_point startTime = std::chrono::steady_clock::now();
std::chrono::steady_clock::time_point endTime;
currentState.position = {0.0, 0.0, 0.0};
while(true)
{
// Reset the body frame positions to zero since the origin of the body frame is the CM
currentBodyState[0] = 0.0;
currentBodyState[1] = 0.0;
currentBodyState[2] = 0.0;
// tempRes gets overwritten
tempRes = linearIntegrator->step(currentBodyState);
std::tie(nextState.position, nextState.velocity) = linearIntegrator->step(currentState.position, currentState.velocity);
//tempRes = linearIntegrator->step(currentBodyState);
std::swap(currentBodyState, tempRes);
if(saveStates)
{
states.push_back(std::make_pair(currentTime, currentBodyState));
states.push_back(std::make_pair(currentTime, nextState));
}
if(rocket->terminateCondition(std::make_pair(currentTime, currentBodyState)))
if(rocket->terminateCondition(std::make_pair(currentTime, currentState)))
break;
currentTime += timeStep;
currentState = nextState;
}
endTime = std::chrono::steady_clock::now();
@ -173,20 +177,20 @@ double Propagator::getMass()
double Propagator::getForceX()
{
QtRocket* qtrocket = QtRocket::getInstance();
return (currentBodyState[3] >= 0 ? -1.0 : 1.0) * qtrocket->getEnvironment()->getAtmosphericModel()->getDensity(currentBodyState[2])/ 2.0 * 0.008107 * rocket->getDragCoefficient() * currentBodyState[3]* currentBodyState[3];
return (currentState.velocity[0] >= 0 ? -1.0 : 1.0) * qtrocket->getEnvironment()->getAtmosphericModel()->getDensity(currentState.position[2])/ 2.0 * 0.008107 * rocket->getDragCoefficient() * currentState.velocity[0]* currentState.velocity[0];
}
double Propagator::getForceY()
{
QtRocket* qtrocket = QtRocket::getInstance();
return (currentBodyState[4] >= 0 ? -1.0 : 1.0) * qtrocket->getEnvironment()->getAtmosphericModel()->getDensity(currentBodyState[2]) / 2.0 * 0.008107 * rocket->getDragCoefficient() * currentBodyState[4]* currentBodyState[4];
return (currentState.velocity[1] >= 0 ? -1.0 : 1.0) * qtrocket->getEnvironment()->getAtmosphericModel()->getDensity(currentState.position[2]) / 2.0 * 0.008107 * rocket->getDragCoefficient() * currentState.velocity[1]* currentState.velocity[1];
}
double Propagator::getForceZ()
{
QtRocket* qtrocket = QtRocket::getInstance();
double gravity = (qtrocket->getEnvironment()->getGravityModel()->getAccel(currentBodyState[0], currentBodyState[1], currentBodyState[2]))[2];
double airDrag = (currentBodyState[5] >= 0 ? -1.0 : 1.0) * qtrocket->getEnvironment()->getAtmosphericModel()->getDensity(currentBodyState[2]) / 2.0 * 0.008107 * rocket->getDragCoefficient() * currentBodyState[5]* currentBodyState[5];
double gravity = (qtrocket->getEnvironment()->getGravityModel()->getAccel(currentState.position[0], currentState.position[1], currentState.position[2]))[2];
double airDrag = (currentState.velocity[2] >= 0 ? -1.0 : 1.0) * qtrocket->getEnvironment()->getAtmosphericModel()->getDensity(currentState.position[2]) / 2.0 * 0.008107 * rocket->getDragCoefficient() * currentState.velocity[2]* currentState.velocity[2];
double thrust = rocket->getThrust(currentTime);
return gravity + airDrag + thrust;
}
@ -198,18 +202,15 @@ double Propagator::getTorqueR() { return 0.0; }
Vector3 Propagator::getCurrentGravity()
{
auto gravityModel = QtRocket::getInstance()->getEnvironment()->getGravityModel();
auto gravityAccel = gravityModel->getAccel(currentBodyState[0],
currentBodyState[1],
currentBodyState[2]);
auto gravityAccel = gravityModel->getAccel(currentState.position[0],
currentState.position[1],
currentState.position[2]);
Vector3 gravityVector{gravityAccel[0],
gravityAccel[1],
gravityAccel[2]};
Quaternion q{currentOrientation[3],
currentOrientation[4],
currentOrientation[5],
currentOrientation[6]};
Quaternion q = currentState.orientation;
Vector3 res = q * gravityVector;

32
sim/Propagator.h
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@ -29,18 +29,14 @@ public:
Propagator(std::shared_ptr<Rocket> r);
~Propagator();
void setInitialState(const std::vector<double>& initialState)
void setInitialState(const StateData& initialState)
{
for(std::size_t i = 0; i < initialState.size(); ++i)
{
currentBodyState[i] = initialState[i];
}
currentState = initialState;
}
const Vector6& getCurrentState() const
const StateData& getCurrentState() const
{
return currentBodyState;
return currentState;
}
void runUntilTerminate();
@ -50,7 +46,7 @@ public:
saveStates = s;
}
const std::vector<std::pair<double, Vector6>>& getStates() const { return states; }
const std::vector<std::pair<double, StateData>>& getStates() const { return states; }
void clearStates() { states.clear(); }
void setCurrentTime(double t) { currentTime = t; }
@ -76,28 +72,16 @@ private:
std::shared_ptr<Rocket> rocket;
StateData worldFrameState;
//StateData bodyFrameState;
Vector3 currentBodyPosition{0.0, 0.0, 0.0};
Vector3 currentBodyVelocity{0.0, 0.0, 0.0};
Vector3 nextBodyPosition{0.0, 0.0, 0.0};
Vector3 nextBodyVelocity{0.0, 0.0, 0.0};
std::vector<double> currentWorldState{0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
StateData currentState;
StateData nextState;
Vector3 currentGravity{0.0, 0.0, 0.0};
Vector3 currentWindSpeed{0.0, 0.0, 0.0};
// orientation vectors in the form (yawDot, pitchDot, rollDot, q1, q2, q3, q4)
Quaternion currentOrientation{0.0, 0.0, 0.0, 0.0};
Quaternion currentOrientationRate{0.0, 0.0, 0.0, 0.0};
Quaternion nextOrientation{0.0, 0.0, 0.0, 0.0};
Quaternion nextOrientationRate{0.0, 0.0, 0.0, 0.0};
bool saveStates{true};
double currentTime{0.0};
double timeStep{0.01};
std::vector<std::pair<double, Vector6>> states;
std::vector<std::pair<double, StateData>> states;
Vector3 getCurrentGravity();
};

47
sim/StateData.h
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@ -22,16 +22,56 @@ public:
StateData() {}
~StateData() {}
std::vector<double> getPosStdVector()
StateData(const StateData&) = default;
StateData(StateData&&) = default;
StateData& operator=(const StateData& rhs)
{
if(this != &rhs)
{
position = rhs.position;
velocity = rhs.velocity;
orientation = rhs.orientation;
orientationRate = rhs.orientationRate;
dcm = rhs.dcm;
eulerAngles = rhs.eulerAngles;
}
return *this;
}
StateData& operator=(StateData&& rhs)
{
if(this != &rhs)
{
position = std::move(rhs.position);
velocity = std::move(rhs.velocity);
orientation = std::move(rhs.orientation);
orientationRate = std::move(rhs.orientationRate);
dcm = std::move(rhs.dcm);
eulerAngles = std::move(rhs.eulerAngles);
}
return *this;
}
std::vector<double> getPosStdVector() const
{
return std::vector<double>{position[0], position[1], position[2]};
}
std::vector<double> getVelStdVector()
std::vector<double> getVelStdVector() const
{
return std::vector<double>{velocity[0], velocity[1], velocity[2]};
}
/// TODO: Put these behind an interface
//Vector3 getPosition() const
//{
// return position;
//}
//Vector3 getVelocity() const
//{
// return velocity;
//}
// private:
// These are 4-vectors so quaternion multiplication works out. The last term (scalar) is always
@ -51,9 +91,6 @@ public:
/// roll - phi
Vector3 eulerAngles{0.0, 0.0, 0.0};
// This is an array because the integrator expects it
double data[6];
};
#endif // STATEDATA_H

8
utils/ThrustCurveAPI.cpp
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@ -235,7 +235,9 @@ std::vector<model::MotorModel> ThrustCurveAPI::searchMotors(const SearchCriteria
{
Json::Reader reader;
Json::Value jsonResult;
Logger::getInstance()->debug("1");
reader.parse(result, jsonResult);
Logger::getInstance()->debug("2");
for(Json::ValueConstIterator iter = jsonResult["results"].begin();
iter != jsonResult["results"].end();
@ -244,6 +246,7 @@ std::vector<model::MotorModel> ThrustCurveAPI::searchMotors(const SearchCriteria
model::MotorModel motorModel;
model::MotorModel::MetaData mm;
mm.commonName = (*iter)["commonName"].asString();
Logger::getInstance()->debug("3");
std::string availability = (*iter)["availability"].asString();
if(availability == "regular")
@ -253,6 +256,7 @@ std::vector<model::MotorModel> ThrustCurveAPI::searchMotors(const SearchCriteria
mm.avgThrust = (*iter)["avgThrustN"].asDouble();
mm.burnTime = (*iter)["burnTimeS"].asDouble();
Logger::getInstance()->debug("4");
// TODO fill in certOrg
// TODO fill in delays
mm.designation = (*iter)["designation"].asString();
@ -279,8 +283,10 @@ std::vector<model::MotorModel> ThrustCurveAPI::searchMotors(const SearchCriteria
else
mm.type = model::MotorModel::MotorType(model::MotorModel::MOTORTYPE::HYBRID);
motorModel.moveMetaData(std::move(mm));
Logger::getInstance()->debug("5");
auto tc = getThrustCurve(mm.motorIdTC);
motorModel.moveMetaData(std::move(mm));
Logger::getInstance()->debug("6");
if(tc)
{
motorModel.addThrustCurve(*tc);