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package src.land; | ||
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import java.util.ArrayList; | ||
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import src.conf.Logger; | ||
import src.peng.NewtonGravityFunction; | ||
import src.peng.ODEFunctionInterface; | ||
import src.peng.State; | ||
import src.peng.Vector3d; | ||
import src.solv.ODESolver; | ||
import src.solv.Verlet; | ||
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public class ClosedLoopController extends LandingController | ||
{ | ||
public ClosedLoopController() | ||
{ | ||
super(); | ||
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} | ||
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public ArrayList<LanderObject> plotTrajectory(Vector3d landerLocation, | ||
Vector3d landerVelocity, | ||
double landerMass, | ||
Vector3d planetLocation, | ||
Vector3d planetVelocity, | ||
double planetMass, | ||
double planetRadius) | ||
{ | ||
double[] masses = {landerMass, planetMass}; | ||
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ArrayList<Vector3d> positions = new ArrayList<Vector3d>(); | ||
positions.add(removeZDimension(normalise(landerLocation, planetLocation))); | ||
positions.add(new Vector3d(0,0,0)); // Planet always starts at 0,0,0 | ||
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ArrayList<Vector3d> velocities = new ArrayList<Vector3d>(); | ||
velocities.add(removeZDimension(normalise(landerVelocity, planetVelocity))); | ||
velocities.add(new Vector3d(0,0,0)); // Planet always starts at 0,0,0 | ||
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State currentState = new State(velocities, positions); | ||
ODESolver solver = new Verlet(); | ||
ODEFunctionInterface f = new NewtonGravityFunction(masses); | ||
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ArrayList<LanderObject> trajectory = new ArrayList<LanderObject>(); | ||
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Logger.logCSV("closedloop_controller", "Time,Pos X, Pos Y, Pos Z, Vel X, Vel Y, Vel Z"); | ||
double time = 0; | ||
double stepSize = 0.1; | ||
while(!testHeight(currentState.position.get(0), currentState.position.get(1), planetRadius)) | ||
{ | ||
Logger.logCSV("closedloop_controller", time + "," + currentState.position.get(0).toCSV() + currentState.velocity.get(0).toCSV()); | ||
currentState = solver.step(f, time, currentState, stepSize); | ||
trajectory.add(new LanderObject(currentState.position.get(0), 0)); | ||
time = time + stepSize; | ||
} | ||
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return trajectory; | ||
} | ||
} |