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Max thrust implementation #107

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merged 2 commits into from
Jun 20, 2021
Merged

Max thrust implementation #107

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b2514ef
Max thrust implementation (first attempt)
SamH1608 Jun 20, 2021
80b9bc4
fixed thrust and got rid of belowHeight
SamH1608 Jun 20, 2021
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4 changes: 2 additions & 2 deletions app/src/main/java/src/land/LandingController.java
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Original file line number Diff line number Diff line change
Expand Up @@ -48,7 +48,7 @@ public Vector3d[] plotTrajectory(Vector3d landerLocation,
Logger.logCSV("landing_controller", "Time,Pos X, Pos Y, Pos Z, Vel X, Vel Y, Vel Z");
double time = 0;
double stepSize = 0.1;
while(!impact(currentState.position.get(0), currentState.position.get(1), planetRadius))
while(!testHeight(currentState.position.get(0), currentState.position.get(1), planetRadius))
{
Logger.logCSV("landing_controller", time + "," + currentState.position.get(0).toCSV() + currentState.velocity.get(0).toCSV());
currentState = solver.step(f, time, currentState, stepSize);
Expand All @@ -62,7 +62,7 @@ public Vector3d[] plotTrajectory(Vector3d landerLocation,
/**
* @return true if the position is within the radius of (0,0,0)
*/
public boolean impact(Vector3d landerPosition, Vector3d planetPosition, double radius)
public boolean testHeight(Vector3d landerPosition, Vector3d planetPosition, double radius)
{
double distance = landerPosition.dist(planetPosition);
distance = Math.abs(distance);
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24 changes: 6 additions & 18 deletions app/src/main/java/src/land/OpenLoopController.java
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@

public class OpenLoopController extends LandingController
{
private Vector3d height = new Vector3d(0,40000,0);
private double height = 4000000;

public OpenLoopController()
{
Expand Down Expand Up @@ -45,32 +45,20 @@ public Vector3d[] plotTrajectory(Vector3d landerLocation,
Logger.logCSV("openloop_controller", "Time,Pos X, Pos Y, Pos Z, Vel X, Vel Y, Vel Z");
double time = 0;
double stepSize = 0.1;
while(!impact(currentState.position.get(0), currentState.position.get(1), planetRadius))
while(!testHeight(currentState.position.get(0), currentState.position.get(1), planetRadius))
{
Logger.logCSV("openloop_controller", time + "," + currentState.position.get(0).toCSV() + currentState.velocity.get(0).toCSV());
currentState = solver.step(f, time, currentState, stepSize);
trajectory.add(currentState.position.get(0));
time = time + stepSize;
if (testHeight(currentState.position.get(0),planetLocation,height)) {
Vector3d maxThrust = new Vector3d(0,1000,0);
currentState.velocity.get(0).add(maxThrust);
}
}

return toArray(trajectory);
}

/*
* Checks whether a given point is below a certain distance, in relation to the radius of the planet
*
* @param a vector representing a certain point
* @return boolean answering whether the point is below the certain height
*/
public boolean belowHeight(Vector3d point) {
if (impact(point, new Vector3d(0,0,0), 1000)) //having radius be a random number
return true;
else if (point.dist(new Vector3d()) < height.dist(new Vector3d()))
return true;
else if (point.dist(new Vector3d()) < height.dist(new Vector3d()))
return true;
else
return false;
}

}
32 changes: 16 additions & 16 deletions app/src/test/java/src/test/TestLandingController.java
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Original file line number Diff line number Diff line change
Expand Up @@ -43,113 +43,113 @@ void logFallFromOrbit()
Vector3d v = new Vector3d(35.0, 0.0, 0.0);
double r = 50.0;
LandingController lc = new LandingController();
assertEquals(lc.impact(v, new Vector3d(0,0,0), r), true);
assertEquals(lc.testHeight(v, new Vector3d(0,0,0), r), true);
}
@Test void testImpact2()
{
Vector3d v = new Vector3d(-20, 0.0, 0.0);
double r = 20.0;
LandingController lc = new LandingController();
assertEquals(lc.impact(v, new Vector3d(0,0,0), r), true);
assertEquals(lc.testHeight(v, new Vector3d(0,0,0), r), true);
}
@Test void testImpact3()
{
Vector3d v = new Vector3d(60.0, 0.0, 0.0);
double r = 45.0;
LandingController lc = new LandingController();
assertEquals(lc.impact(v, new Vector3d(0,0,0), r), false);
assertEquals(lc.testHeight(v, new Vector3d(0,0,0), r), false);
}
@Test void testImpact4()
{
Vector3d v = new Vector3d(-40.0, 0.0, 0.0);
double r = 30.0;
LandingController lc = new LandingController();
assertEquals(lc.impact(v, new Vector3d(0,0,0), r), false);
assertEquals(lc.testHeight(v, new Vector3d(0,0,0), r), false);
}
@Test void testImpact5()
{
Vector3d v = new Vector3d(0.0, 60, 0.0);
double r = 60.0;
LandingController lc = new LandingController();
assertEquals(lc.impact(v, new Vector3d(0,0,0), r), true);
assertEquals(lc.testHeight(v, new Vector3d(0,0,0), r), true);
}
@Test void testImpact6()
{
Vector3d v = new Vector3d(0.0, -20.0, 0.0);
double r = 25.0;
LandingController lc = new LandingController();
assertEquals(lc.impact(v, new Vector3d(0,0,0), r), true);
assertEquals(lc.testHeight(v, new Vector3d(0,0,0), r), true);
}

@Test void testImpact7()
{
Vector3d v = new Vector3d(0.0, 35.0, 0.0);
double r = 25.0;
LandingController lc = new LandingController();
assertEquals(lc.impact(v, new Vector3d(0,0,0), r), false);
assertEquals(lc.testHeight(v, new Vector3d(0,0,0), r), false);
}
@Test void testImpact8()
{
Vector3d v = new Vector3d(0.0, -40.0, 0.0);
double r = 30.0;
LandingController lc = new LandingController();
assertEquals(lc.impact(v, new Vector3d(0,0,0), r), false);
assertEquals(lc.testHeight(v, new Vector3d(0,0,0), r), false);
}
@Test void testImpact9()
{
Vector3d v = new Vector3d(50.0, -30.0, 0.0);
double r = 58.30951895;
LandingController lc = new LandingController();
assertEquals(lc.impact(v, new Vector3d(0,0,0), r), true);
assertEquals(lc.testHeight(v, new Vector3d(0,0,0), r), true);
}
@Test void testImpact10()
{
Vector3d v = new Vector3d(15.0, 20.0, 0.0);
double r = 25.0;
LandingController lc = new LandingController();
assertEquals(lc.impact(v, new Vector3d(0,0,0), r), true);
assertEquals(lc.testHeight(v, new Vector3d(0,0,0), r), true);
}
@Test void testImpact11()
{
Vector3d v = new Vector3d(30.0, -15.0, 0.0);
double r = 30.0;
LandingController lc = new LandingController();
assertEquals(lc.impact(v, new Vector3d(0,0,0), r), false);
assertEquals(lc.testHeight(v, new Vector3d(0,0,0), r), false);
}
@Test void testImpact12()
{
Vector3d v = new Vector3d(31.0, 46.0, 0.0);
double r = 40.0;
LandingController lc = new LandingController();
assertEquals(lc.impact(v, new Vector3d(0,0,0), r), false);
assertEquals(lc.testHeight(v, new Vector3d(0,0,0), r), false);
}
@Test void testImpact13()
{
Vector3d v = new Vector3d(-20.0, -15.0, 0.0);
double r = 25.0;
LandingController lc = new LandingController();
assertEquals(lc.impact(v, new Vector3d(0,0,0), r), true);
assertEquals(lc.testHeight(v, new Vector3d(0,0,0), r), true);
}
@Test void testImpact14()
{
Vector3d v = new Vector3d(-30.0, 20.0, 0.0);
double r = 37;
LandingController lc = new LandingController();
assertEquals(lc.impact(v, new Vector3d(0,0,0), r), true);
assertEquals(lc.testHeight(v, new Vector3d(0,0,0), r), true);
}
@Test void testImpact15()
{
Vector3d v = new Vector3d(-40.0, -30.0, 0.0);
double r = 30;
LandingController lc = new LandingController();
assertEquals(lc.impact(v, new Vector3d(0,0,0), r), false);
assertEquals(lc.testHeight(v, new Vector3d(0,0,0), r), false);
}
@Test void testImpact16()
{
Vector3d v = new Vector3d(-20.0, 60.0, 0.0);
double r = 60;
LandingController lc = new LandingController();
assertEquals(lc.impact(v, new Vector3d(0,0,0), r), false);
assertEquals(lc.testHeight(v, new Vector3d(0,0,0), r), false);
}

/**
Expand Down
95 changes: 0 additions & 95 deletions app/src/test/java/src/test/TestOpenLoopController.java
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Original file line number Diff line number Diff line change
Expand Up @@ -8,101 +8,6 @@

public class TestOpenLoopController {

/*
* REP. INV.:
* Height should be > radius
*
* PARTITIONS: Above | Below
* Left-hand side of planet point = -ve,0 > height| point = -ve,0 < height
* Right-hand side of planet point = +ve,0 > height| point = +ve,0 < height
* Centre above planet point = 0,+ve > height| point = 0,+ve < height
* Centre below planet point = 0,-ve > height| point = 0,-ve < height
*
* Special cases:
* Height of point == height, --> false
* Height of point, impact() is true, --> true
*/

@Test
void testAboveHeightRHSide() {

OpenLoopController controller = new OpenLoopController();
Vector3d point = new Vector3d(50000,0,0);
assert(!controller.belowHeight(point));
}

@Test
void testAboveHeightLHSide() {

OpenLoopController controller = new OpenLoopController();
Vector3d point = new Vector3d(-50000,0,0);
assert(!controller.belowHeight(point));
}

@Test
void testAboveHeightCentreTop() {

OpenLoopController controller = new OpenLoopController();
Vector3d point = new Vector3d(0,60000,0);
assert(!controller.belowHeight(point));
}

@Test
void testAboveHeightCentreBottom() {

OpenLoopController controller = new OpenLoopController();
Vector3d point = new Vector3d(0,-60000,0);
assert(!controller.belowHeight(point));
}

@Test
void testBelowHeightRHSide() {

OpenLoopController controller = new OpenLoopController();
Vector3d point = new Vector3d(5000,0,0);
assert(controller.belowHeight(point));
}

@Test
void testBelowHeightLHSide() {

OpenLoopController controller = new OpenLoopController();
Vector3d point = new Vector3d(-5000,0,0);
assert(controller.belowHeight(point));
}

@Test
void testBelowHeightCentreTop() {

OpenLoopController controller = new OpenLoopController();
Vector3d point = new Vector3d(0,6000,0);
assert(controller.belowHeight(point));
}

@Test
void testBelowHeightCentreBottom() {

OpenLoopController controller = new OpenLoopController();
Vector3d point = new Vector3d(0,-6000,0);
assert(controller.belowHeight(point));
}

@Test
void testHeightsEqual() {

OpenLoopController controller = new OpenLoopController();
Vector3d point = new Vector3d(0,40000,0);
assert(!controller.belowHeight(point));
}

@Test
void testImpactTrue() {

OpenLoopController controller = new OpenLoopController();
Vector3d point = new Vector3d(100,100,0);
assert(controller.belowHeight(point));
}

@Test
void logFallFromOrbit()
{
Expand Down