TakeOffTrajectoryController

class sharpy.controllers.takeofftrajectorycontroller.TakeOffTrajectoryController

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)

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)

See https://docs.scipy.org/doc/scipy-0.15.1/reference/generated/scipy.interpolate.UnivariateSpline.html