From 8628abfe132908de6f6232f68deabe880d37ab93 Mon Sep 17 00:00:00 2001
From: Philippe Pastor <philippe.pastor@isae.fr>
Date: Tue, 1 Oct 2024 15:47:49 +0200
Subject: [PATCH] version 1.0
---
.../__pycache__/mavion_model.cpython-311.pyc | Bin 0 -> 11520 bytes
mavion/main.py | 2 +-
mavion/mavion_env.py | 2 +-
mavion/{mavion.py => mavion_model.py} | 0
mavion/quaternion.py | 86 ------------------
5 files changed, 2 insertions(+), 88 deletions(-)
create mode 100644 mavion/__pycache__/mavion_model.cpython-311.pyc
rename mavion/{mavion.py => mavion_model.py} (100%)
delete mode 100644 mavion/quaternion.py
diff --git a/mavion/__pycache__/mavion_model.cpython-311.pyc b/mavion/__pycache__/mavion_model.cpython-311.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..36b589965e84da4a609c7f9fc9026c6e1ee8bafd
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diff --git a/mavion/main.py b/mavion/main.py
index 5942126..69944de 100644
--- a/mavion/main.py
+++ b/mavion/main.py
@@ -1,7 +1,7 @@
import numpy as np
from rotation import *
import matplotlib.pyplot as plt
-from mavion import Mavion
+from mavion_model import Mavion
def upulse(t, t0, tf):
u = 0 if (t<t0 or t>=tf) else 1
diff --git a/mavion/mavion_env.py b/mavion/mavion_env.py
index 10cc9d1..45996ce 100644
--- a/mavion/mavion_env.py
+++ b/mavion/mavion_env.py
@@ -1,7 +1,7 @@
import numpy as np
import gymnasium as gym
from gymnasium.envs.classic_control import utils
-from mavion import Mavion
+from mavion_model import Mavion
class MavionEnv(gym.Env):
diff --git a/mavion/mavion.py b/mavion/mavion_model.py
similarity index 100%
rename from mavion/mavion.py
rename to mavion/mavion_model.py
diff --git a/mavion/quaternion.py b/mavion/quaternion.py
deleted file mode 100644
index 92121f6..0000000
--- a/mavion/quaternion.py
+++ /dev/null
@@ -1,86 +0,0 @@
-
-import numpy as np
-
-def quatmul(p, q):
- m = np.array(
- [
- [p[0], -p[1], -p[2], -p[3]],
- [p[1], p[0], -p[3], p[2]],
- [p[2], p[3], p[0], -p[1]],
- [p[3], -p[2], p[1], p[0]]
- ]
- )
- return m@q
-
-def quatmul(p, q):
- r = np.zeros(4)
- r[0] = p[0]*q[0] - np.dot(p[1:4],q[1:4])
- r[1:4] = p[0]*q[1:4] + q[0]*p[1:4] + np.cross(p[1:4],q[1:4])
- return r
-
-def quatnorm(q):
- return np.dot(q, q)
-
-def quatinv(q):
- r = np.zeros(4)
- r[0] = q[0]
- r[1:4] = -q[1:4]
- r = r / quatnorm(q)
- return r
-
-def quat2dcm(q):
- dcm = np.array(
- [
- [q[0] ** 2 + q[1] ** 2 - q[2] ** 2 - q[3] ** 2, 2 * (q[1] * q[2] + q[0] * q[3]), 2 * (q[1] * q[3] - q[0] * q[2])],
- [2 * (q[1] * q[2] - q[0] * q[3]), q[0] ** 2 - q[1] ** 2 + q[2] ** 2 - q[3] ** 2, 2 * (q[2] * q[3] - q[0] * q[1])],
- [2 * (q[1] * q[3] + q[0] * q[2]), 2 * (q[2] * q[3] - q[0] * q[1]), q[0] ** 2 - q[1] ** 2 - q[2] ** 2 + q[3] ** 2]
- ]
- )
- return dcm
-
-def dcm2quat(d):
- q = np.zeros(4)
- q[0] = np.sqrt()
-
-def eul2quat(a):
- phi, tet, psi = a
- q_phi = np.array([np.cos(phi/2), np.sin(phi/2), 0, 0])
- q_tet = np.array([np.cos(tet/2), 0, np.sin(tet/2), 0])
- q_psi = np.array([np.cos(psi/2), 0, 0, np.sin(psi/2)])
- q = quatprod(q_psi, quatprod(q_tet, q_phi))
- return q
-
-def eul2quat2(a):
- c = np.cos(a/2)
- s = np.sin(a/2)
- q = np.array(
- [
- c[0] * c[1] * c[2] + s[0] * s[1] * s[2],
- s[0] * c[1] * c[2] - c[0] * s[1] * s[2],
- c[0] * s[1] * c[2] + s[0] * c[1] * s[2],
- c[0] * c[1] * s[2] - s[0] * s[1] * c[2],
- ]
- )
- return q
-
-def quat2eul(q):
- phi = np.arctan2(2 * (q[0] * q[1] + q[2] * q[3]), 1 - 2 * (q[1] * q[1] + q[2] * q[2]))
- theta = np.arcsin(2 * (q[0] * q[2] - q[1] * q[3]))
- psi = np.arctan2(2 * (q[0] * q[3] + q[1] * q[2]), 1 - 2 * (q[3] * q[3] + q[2] * q[2]))
- return np.array([phi, theta, psi])
-
-def eul2dcm(a):
- Rx = np.array([[1, 0, 0],
- [0, np.cos(a[0]), np.sin(a[0])],
- [0, -np.sin(a[0]), np.cos(a[0])]])
-
- Ry = np.array([[np.cos(a[1]), 0, -np.sin(a[1])],
- [0, 1, 0],
- [np.sin(a[1]), 0, np.cos(a[1])]])
-
- Rz = np.array([[np.cos(a[2]), np.sin(a[2]), 0],
- [-np.sin(a[2]), np.cos(a[2]), 0],
- [0, 0, 1]])
-
- return Rx @ Ry @ Rz
-
--
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