TakeOffTrajectoryController¶
- class sharpy.controllers.takeofftrajectorycontroller.TakeOffTrajectoryController[source]¶
The settings that this solver accepts are given by a dictionary, with the following key-value pairs:
Name
Type
Description
Default
trajectory_input_file
str
Route and file name of the trajectory file given as a csv with columns: time, x, y, z
None
dt
float
Time step of the simulation
None
trajectory_method
str
Trajectory controller method. For now, “lagrange” is the supported option
lagrange
controlled_constraint
str
Name of the controlled constraint in the multibody context Usually, it is something like constraint_00.
None
controller_log_route
str
Directory where the log will be stored
./output/
write_controller_log
bool
Controls if the log from the controller is written or not.
True
free_trajectory_structural_solver
str
If different than and empty string, the structural solver will be changed after the end of the trajectory has been reached
free_trajectory_structural_substeps
int
Controls the structural solver structural substeps once the end of the trajectory has been reached
0
initial_ramp_length_structural_substeps
int
Controls the number of timesteps that are used to increase the structural substeps from 0
10
- control(data, controlled_state)[source]¶
Main routine of the controller. Input is data (the self.data in the solver), and currrent_state which is a dictionary with [‘structural’, ‘aero’] time steps for the current iteration.
- Parameters
data – problem data containing all the information.
controlled_state – dict with two vars: structural and aero containing the timestep_info that will be returned with the control variables.
- Returns
A dict with structural and aero time steps and control input included.
- process_trajectory(dxdt=True)[source]¶
See https://docs.scipy.org/doc/scipy-0.15.1/reference/generated/scipy.interpolate.UnivariateSpline.html