105 lines
3.4 KiB
C++
105 lines
3.4 KiB
C++
#include <iostream>
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#include "Propagator.h"
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#include "sim/RK4Solver.h"
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#include "model/Rocket.h"
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#include "utils/Logger.h"
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#include "QtRocket.h"
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#include <utility>
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#include <chrono>
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#include <sstream>
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namespace sim {
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Propagator::Propagator(Rocket* r)
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: integrator(),
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rocket(r),
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qtrocket(QtRocket::getInstance())
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{
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// This is a little strange, but I have to populate the integrator unique_ptr
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// with reset. make_unique() doesn't work because the compiler can't seem to
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// deduce the template parameters correctly, and I don't want to specify them
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// manually either. RK4Solver constructor is perfectly capable of deducing it's
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// template types, and it derives from DESolver, so we can just reset the unique_ptr
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// and pass it a freshly allocated RK4Solver pointer
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// The state vector has components of the form: (x, y, z, xdot, ydot, zdot)
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integrator.reset(new RK4Solver(
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/* dx/dt */ [](double, const std::vector<double>& s) -> double {return s[3]; },
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/* dy/dt */ [](double, const std::vector<double>& s) -> double {return s[4]; },
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/* dz/dt */ [](double, const std::vector<double>& s) -> double {return s[5]; },
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/* dvx/dt */ [this](double, const std::vector<double>& ) -> double { return getForceX() / getMass(); },
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/* dvy/dt */ [this](double, const std::vector<double>& ) -> double { return getForceY() / getMass(); },
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/* dvz/dt */ [this](double, const std::vector<double>& ) -> double { return getForceZ() / getMass(); }));
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integrator->setTimeStep(timeStep);
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saveStates = true;
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}
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Propagator::~Propagator()
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{
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}
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void Propagator::runUntilTerminate()
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{
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std::chrono::steady_clock::time_point startTime = std::chrono::steady_clock::now();
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std::chrono::steady_clock::time_point endTime;
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while(true)
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{
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// tempRes gets overwritten
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integrator->step(currentTime, currentState, tempRes);
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std::swap(currentState, tempRes);
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if(saveStates)
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{
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states.push_back(std::make_pair(currentTime, currentState));
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}
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if(rocket->terminateCondition(std::make_pair(currentTime, currentState)))
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break;
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currentTime += timeStep;
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}
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endTime = std::chrono::steady_clock::now();
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std::stringstream duration;
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duration << "runUntilTerminate time (microseconds): ";
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duration << std::chrono::duration_cast<std::chrono::microseconds>(endTime - startTime).count();
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utils::Logger::getInstance()->debug(duration.str());
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}
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double Propagator::getMass()
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{
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return rocket->getMass();
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}
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double Propagator::getForceX()
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{
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return - qtrocket->getAtmosphereModel()->getDensity(currentState[3])/ 2.0 * 0.008107 * rocket->getDragCoefficient() * currentState[3]* currentState[3];
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}
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double Propagator::getForceY()
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{
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return -qtrocket->getAtmosphereModel()->getDensity(currentState[3]) / 2.0 * 0.008107 * rocket->getDragCoefficient() * currentState[4]* currentState[4];
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}
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double Propagator::getForceZ()
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{
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double gravity = (qtrocket->getGravityModel()->getAccel(currentState[0], currentState[1], currentState[2])).x3;
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double airDrag = -qtrocket->getAtmosphereModel()->getDensity(currentState[3]) / 2.0 * 0.008107 * rocket->getDragCoefficient() * currentState[5]* currentState[5];
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double thrust = rocket->getThrust(currentTime);
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return gravity + airDrag + thrust;
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}
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double Propagator::getTorqueP() { return 0.0; }
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double Propagator::getTorqueQ() { return 0.0; }
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double Propagator::getTorqueR() { return 0.0; }
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} // namespace sim
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