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