refactored MainWindow compute ballistic trajector to use new Rocket interface
This commit is contained in:
parent
f172e26d01
commit
f595562de9
@ -4,6 +4,7 @@
|
||||
|
||||
#include "utils/math/Vector3.h"
|
||||
#include "sim/RK4Solver.h"
|
||||
#include "model/Rocket.h"
|
||||
|
||||
#include <QTextStream>
|
||||
|
||||
@ -74,66 +75,21 @@ void MainWindow::on_testButton2_clicked()
|
||||
|
||||
double initialVelocityX = initialVelocity * std::cos(initialAngle / 57.2958);
|
||||
double initialVelocityY = initialVelocity * std::sin(initialAngle / 57.2958);
|
||||
math::Vector3 initialVelVector(initialVelocityX, initialVelocityY, 0.0);
|
||||
std::vector<math::Vector3> position;
|
||||
position.emplace_back(0.0, 0.0, 0.0);
|
||||
Rocket rocket;
|
||||
std::vector<double> initialState = {0.0, 0.0, 0.0, initialVelocityX, initialVelocityY, 0.0};
|
||||
rocket.setInitialState(initialState);
|
||||
rocket.setMass(mass);
|
||||
rocket.setDragCoefficient(dragCoeff);
|
||||
rocket.launch();
|
||||
|
||||
std::vector<math::Vector3> velocity;
|
||||
velocity.push_back(initialVelVector);
|
||||
|
||||
double ts = 0.01;
|
||||
|
||||
// X position/velocity. x[0] is X position, x[1] is X velocity
|
||||
std::vector<double> x = {0.0, initialVelocityX};
|
||||
|
||||
// Y position/velocity. y[0] is Y position, y[1] is Y velocity
|
||||
std::vector<double> y = {0.0, initialVelocityY};
|
||||
|
||||
auto xvelODE = [mass, dragCoeff](double, const std::vector<double>& x) -> double
|
||||
{
|
||||
|
||||
return -dragCoeff * 1.225 * 0.00774192 / (2.0 * mass) * x[1]*x[1]; };
|
||||
auto xposODE = [](double, const std::vector<double>& x) -> double { return x[1]; };
|
||||
sim::RK4Solver xSolver(xposODE, xvelODE);
|
||||
xSolver.setTimeStep(0.01);
|
||||
|
||||
auto yvelODE = [mass, dragCoeff](double, const std::vector<double>& y) -> double
|
||||
{
|
||||
|
||||
return -dragCoeff * 1.225 * 0.00774192 / (2.0 * mass) * y[1]*y[1] - 9.8; };
|
||||
auto yposODE = [](double, const std::vector<double>& y) -> double { return y[1]; };
|
||||
sim::RK4Solver ySolver(yposODE, yvelODE);
|
||||
ySolver.setTimeStep(0.01);
|
||||
|
||||
|
||||
// These can be solved independently for now. Maybe figure out how to merge them later
|
||||
size_t maxTs = std::ceil(100.0 / ts);
|
||||
QTextStream cout(stdout);
|
||||
cout << "Initial X velocity: " << initialVelocityX << "\n";
|
||||
cout << "Initial Y velocity: " << initialVelocityY << "\n";
|
||||
std::vector<double> resX(2);
|
||||
std::vector<double> resY(2);
|
||||
for(size_t i = 0; i < maxTs; ++i)
|
||||
{
|
||||
xSolver.step(i * ts, x, resX);
|
||||
ySolver.step(i * ts, y, resY);
|
||||
position.emplace_back(resX[0], resY[0], 0.0);
|
||||
|
||||
x = resX;
|
||||
y = resY;
|
||||
|
||||
cout << "(" << position[i].getX1() << ", " << position[i].getX2() << ")\n";
|
||||
if(y[0] < 0.0)
|
||||
break;
|
||||
|
||||
}
|
||||
const std::vector<std::vector<double>>& res = rocket.getStates();
|
||||
auto& plot = ui->plotWindow;
|
||||
// generate some data:
|
||||
QVector<double> xData(position.size()), yData(position.size());
|
||||
QVector<double> xData(res.size()), yData(res.size());
|
||||
for (int i = 0; i < xData.size(); ++i)
|
||||
{
|
||||
xData[i] = position[i].getX1();
|
||||
yData[i] = position[i].getX2();
|
||||
xData[i] = res[i][0];
|
||||
yData[i] = res[i][1];
|
||||
}
|
||||
// create graph and assign data to it:
|
||||
plot->addGraph();
|
||||
|
||||
@ -1,8 +1,13 @@
|
||||
#include "Rocket.h"
|
||||
|
||||
Rocket::Rocket()
|
||||
Rocket::Rocket() : propagator(this)
|
||||
{
|
||||
propagator.setTimeStep(0.01);
|
||||
//propagator.set
|
||||
|
||||
}
|
||||
|
||||
void Rocket::launch()
|
||||
{
|
||||
propagator.runUntilTerminate();
|
||||
}
|
||||
|
||||
@ -1,9 +1,6 @@
|
||||
#ifndef ROCKET_H
|
||||
#define ROCKET_H
|
||||
|
||||
#include "utils/math/Vector3.h"
|
||||
#include "utils/math/Quaternion.h"
|
||||
|
||||
#include "sim/Propagator.h"
|
||||
|
||||
#include <utility> // std::move
|
||||
@ -14,30 +11,21 @@ class Rocket
|
||||
public:
|
||||
Rocket();
|
||||
|
||||
void setPosition(const math::Vector3& pos) { *position = pos; }
|
||||
void setPosition(math::Vector3&& pos) { *position = std::move(pos); }
|
||||
void launch();
|
||||
const std::vector<std::vector<double>>& getStates() const { return propagator.getStates(); }
|
||||
|
||||
void setVelocity(const math::Vector3& vel) { *velocity = vel; }
|
||||
void setVelocity(math::Vector3&& vel) { *velocity = std::move(vel); }
|
||||
void setInitialState(const std::vector<double>& initState) { propagator.setInitialState(initState); }
|
||||
|
||||
void setOrientation(const math::Quaternion& ori) { *orientation = ori; }
|
||||
void setOrientation(math::Quaternion&& ori) { *orientation = std::move(ori); }
|
||||
double getMass() const { return mass; }
|
||||
void setMass(double m) { mass = m;}
|
||||
|
||||
void setOrientationRate(const math::Quaternion& ori) { *orientationRate = ori; }
|
||||
void setOrientationRate(math::Quaternion&& ori) { *orientationRate = std::move(ori); }
|
||||
|
||||
const math::Vector3& getPosition() const { return *position; }
|
||||
const math::Vector3& getVelocity() const { return *velocity; }
|
||||
const math::Quaternion& getOrientation() const { return *orientation; }
|
||||
const math::Quaternion& getOrientationRate() const { return *orientation; }
|
||||
void setDragCoefficient(double d) { dragCoeff = d; }
|
||||
double getDragCoefficient() const { return dragCoeff; }
|
||||
private:
|
||||
|
||||
std::shared_ptr<math::Vector3> position;
|
||||
std::shared_ptr<math::Vector3> velocity;
|
||||
std::shared_ptr<math::Quaternion> orientation;
|
||||
std::shared_ptr<math::Quaternion> orientationRate;
|
||||
|
||||
sim::Propagator propagator;
|
||||
double dragCoeff;
|
||||
double mass;
|
||||
};
|
||||
|
||||
#endif // ROCKET_H
|
||||
|
||||
@ -1,13 +1,17 @@
|
||||
#include <iostream>
|
||||
#include "Propagator.h"
|
||||
|
||||
#include "sim/RK4Solver.h"
|
||||
#include "model/Rocket.h"
|
||||
|
||||
#include <utility>
|
||||
#include <QTextStream>
|
||||
|
||||
namespace sim {
|
||||
|
||||
Propagator::Propagator()
|
||||
: integrator()
|
||||
Propagator::Propagator(Rocket* r)
|
||||
: integrator(),
|
||||
rocket(r)
|
||||
|
||||
{
|
||||
|
||||
@ -30,6 +34,7 @@ Propagator::Propagator()
|
||||
|
||||
|
||||
integrator->setTimeStep(timeStep);
|
||||
saveStates = true;
|
||||
}
|
||||
|
||||
Propagator::~Propagator()
|
||||
@ -38,20 +43,51 @@ Propagator::~Propagator()
|
||||
|
||||
void Propagator::runUntilTerminate()
|
||||
{
|
||||
while(true)
|
||||
|
||||
QTextStream out(stdout);
|
||||
std::size_t j = 0;
|
||||
while(true && j < 100000)
|
||||
{
|
||||
// nextState gets overwritten
|
||||
integrator->step(currentTime, currentState, nextState);
|
||||
std::swap(currentState, nextState);
|
||||
integrator->step(currentTime, currentState, tempRes);
|
||||
std::size_t size = currentState.size();
|
||||
for(size_t i = 0; i < size; ++i)
|
||||
{
|
||||
currentState[i] = tempRes[i];
|
||||
tempRes[i] = 0;
|
||||
}
|
||||
|
||||
//std::swap(currentState, nextState);
|
||||
if(saveStates)
|
||||
{
|
||||
states.push_back(currentState);
|
||||
}
|
||||
out << currentTime << ": ("
|
||||
<< currentState[0] << ", "
|
||||
<< currentState[1] << ", "
|
||||
<< currentState[2] << ", "
|
||||
<< currentState[3] << ", "
|
||||
<< currentState[4] << ", "
|
||||
<< currentState[5] << ")\n";
|
||||
if(currentState[1] < 0.0)
|
||||
break;
|
||||
|
||||
j++;
|
||||
currentTime += timeStep;
|
||||
}
|
||||
}
|
||||
|
||||
double Propagator::getMass()
|
||||
{
|
||||
return rocket->getMass();
|
||||
}
|
||||
|
||||
double Propagator::getForceX() { return -1.225 / 2.0 * 0.008107 * rocket->getDragCoefficient() * currentState[3]* currentState[3]; }
|
||||
double Propagator::getForceY() { return -1.225 / 2.0 * 0.008107 * rocket->getDragCoefficient() * currentState[4]* currentState[4] -9.8; }
|
||||
double Propagator::getForceZ() { return 0; }
|
||||
|
||||
double Propagator::getTorqueP() { return 0.0; }
|
||||
double Propagator::getTorqueQ() { return 0.0; }
|
||||
double Propagator::getTorqueR() { return 0.0; }
|
||||
|
||||
} // namespace sim
|
||||
|
||||
@ -6,18 +6,26 @@
|
||||
#include <memory>
|
||||
#include <vector>
|
||||
|
||||
// Forward declare
|
||||
class Rocket;
|
||||
|
||||
namespace sim
|
||||
{
|
||||
|
||||
class Propagator
|
||||
{
|
||||
public:
|
||||
Propagator();
|
||||
Propagator(Rocket* r);
|
||||
~Propagator();
|
||||
|
||||
void setInitialState(std::vector<double>& initialState)
|
||||
void setInitialState(const std::vector<double>& initialState)
|
||||
{
|
||||
currentState = initialState;
|
||||
currentState.resize(initialState.size());
|
||||
for(std::size_t i = 0; i < initialState.size(); ++i)
|
||||
{
|
||||
currentState[i] = initialState[i];
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
const std::vector<double>& getCurrentState() const
|
||||
@ -36,23 +44,27 @@ public:
|
||||
|
||||
void setTimeStep(double ts) { timeStep = ts; }
|
||||
|
||||
void setSaveStats(bool s) { saveStates = s; }
|
||||
|
||||
private:
|
||||
double getForceX() { return 0.0; }
|
||||
double getForceY() { return 0.0; }
|
||||
double getForceZ() { return 0.0; }
|
||||
double getForceX();
|
||||
double getForceY();
|
||||
double getForceZ();
|
||||
|
||||
double getTorqueP() { return 0.0; }
|
||||
double getTorqueQ() { return 0.0; }
|
||||
double getTorqueR() { return 0.0; }
|
||||
double getTorqueP();
|
||||
double getTorqueQ();
|
||||
double getTorqueR();
|
||||
|
||||
double getMass() { return 0.0; }
|
||||
double getMass();
|
||||
|
||||
//private:
|
||||
|
||||
std::unique_ptr<sim::DESolver> integrator;
|
||||
|
||||
Rocket* rocket;
|
||||
|
||||
std::vector<double> currentState{0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
|
||||
std::vector<double> nextState{0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
|
||||
std::vector<double> tempRes{0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
|
||||
bool saveStates{true};
|
||||
double currentTime{0.0};
|
||||
double timeStep{0.01};
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user