Module alexandria.signals.control
Control signals
Expand source code
# SPDX-FileCopyrightText: © 2021 Antonio López Rivera <antonlopezr99@gmail.com>
# SPDX-License-Identifier: GPL-3.0-only
"""
Control signals
---------------
"""
import numpy as np
from math import floor
class ControlDomain:
def __init__(self, totaltime, dt):
"""
:param totaltime: Total maneuver time
:param dt: Time step
"""
self.totaltime = totaltime
self.dt = dt
def t(self):
"""
:return: Maneuver time vector
"""
t = np.arange(0, self.totaltime, self.dt)
return t
def time_vector_length(self, t0, t1):
"""
:param t0: Start time of action
:param t1: End time of action
:return: Vector size for action lasting from t0 to t1, calculated from previously
provided total maneuver time and time step
"""
n = self.t().size*(t1-t0)/self.totaltime
return floor(n)
def merge(self, control_input, t0, t1):
"""
:param control_input: Control input to be merged
:param t0: Control input start time
:param t1: Control input end time
:return: Control time vector: merged input and release time
"""
if t0 == 0:
control_release = np.zeros(self.time_vector_length(t1, self.totaltime))
u = np.concatenate((control_input,
control_release))
elif t0 > 0:
control_hold = np.zeros(self.time_vector_length(0, t0))
control_release = np.zeros(self.time_vector_length(t1, self.totaltime))
u = np.concatenate((control_hold,
control_input,
control_release))
else:
raise Exception(f"Invalid t0 ({t0})")
return u
def step(self, value, t0, t1):
"""
:param value: Value of step control input
:param t0: Start time of step control input
:param t1: End time of step control input
:return: <instance>.s - Step control input vector for SSS force response calculation
"""
control_input = value * np.ones(self.time_vector_length(t0, t1))
return self.merge(control_input, t0, t1)
def ramp(self, v0, v1, t0, t1):
"""
:param v0: Initial value of linear control input
:param v1: End value of linear control input
:param t0: Start time of linear control input
:param t1: End time of linear control input
:return: <instance>.s - Linear control input vector for SSS force response calculation
"""
control_input = np.linspace(v0, v1, self.time_vector_length(t0, t1))
return self.merge(control_input, t0, t1)Classes
class ControlDomain (totaltime, dt)-
:param totaltime: Total maneuver time :param dt: Time step
Expand source code
class ControlDomain: def __init__(self, totaltime, dt): """ :param totaltime: Total maneuver time :param dt: Time step """ self.totaltime = totaltime self.dt = dt def t(self): """ :return: Maneuver time vector """ t = np.arange(0, self.totaltime, self.dt) return t def time_vector_length(self, t0, t1): """ :param t0: Start time of action :param t1: End time of action :return: Vector size for action lasting from t0 to t1, calculated from previously provided total maneuver time and time step """ n = self.t().size*(t1-t0)/self.totaltime return floor(n) def merge(self, control_input, t0, t1): """ :param control_input: Control input to be merged :param t0: Control input start time :param t1: Control input end time :return: Control time vector: merged input and release time """ if t0 == 0: control_release = np.zeros(self.time_vector_length(t1, self.totaltime)) u = np.concatenate((control_input, control_release)) elif t0 > 0: control_hold = np.zeros(self.time_vector_length(0, t0)) control_release = np.zeros(self.time_vector_length(t1, self.totaltime)) u = np.concatenate((control_hold, control_input, control_release)) else: raise Exception(f"Invalid t0 ({t0})") return u def step(self, value, t0, t1): """ :param value: Value of step control input :param t0: Start time of step control input :param t1: End time of step control input :return: <instance>.s - Step control input vector for SSS force response calculation """ control_input = value * np.ones(self.time_vector_length(t0, t1)) return self.merge(control_input, t0, t1) def ramp(self, v0, v1, t0, t1): """ :param v0: Initial value of linear control input :param v1: End value of linear control input :param t0: Start time of linear control input :param t1: End time of linear control input :return: <instance>.s - Linear control input vector for SSS force response calculation """ control_input = np.linspace(v0, v1, self.time_vector_length(t0, t1)) return self.merge(control_input, t0, t1)Methods
def merge(self, control_input, t0, t1)-
:param control_input: Control input to be merged :param t0: Control input start time :param t1: Control input end time :return: Control time vector: merged input and release time
Expand source code
def merge(self, control_input, t0, t1): """ :param control_input: Control input to be merged :param t0: Control input start time :param t1: Control input end time :return: Control time vector: merged input and release time """ if t0 == 0: control_release = np.zeros(self.time_vector_length(t1, self.totaltime)) u = np.concatenate((control_input, control_release)) elif t0 > 0: control_hold = np.zeros(self.time_vector_length(0, t0)) control_release = np.zeros(self.time_vector_length(t1, self.totaltime)) u = np.concatenate((control_hold, control_input, control_release)) else: raise Exception(f"Invalid t0 ({t0})") return u def ramp(self, v0, v1, t0, t1)-
:param v0: Initial value of linear control input :param v1: End value of linear control input :param t0: Start time of linear control input :param t1: End time of linear control input
:return:
.s - Linear control input vector for SSS force response calculation Expand source code
def ramp(self, v0, v1, t0, t1): """ :param v0: Initial value of linear control input :param v1: End value of linear control input :param t0: Start time of linear control input :param t1: End time of linear control input :return: <instance>.s - Linear control input vector for SSS force response calculation """ control_input = np.linspace(v0, v1, self.time_vector_length(t0, t1)) return self.merge(control_input, t0, t1) def step(self, value, t0, t1)-
:param value: Value of step control input :param t0: Start time of step control input :param t1: End time of step control input
:return:
.s - Step control input vector for SSS force response calculation Expand source code
def step(self, value, t0, t1): """ :param value: Value of step control input :param t0: Start time of step control input :param t1: End time of step control input :return: <instance>.s - Step control input vector for SSS force response calculation """ control_input = value * np.ones(self.time_vector_length(t0, t1)) return self.merge(control_input, t0, t1) def t(self)-
:return: Maneuver time vector
Expand source code
def t(self): """ :return: Maneuver time vector """ t = np.arange(0, self.totaltime, self.dt) return t def time_vector_length(self, t0, t1)-
:param t0: Start time of action :param t1: End time of action :return: Vector size for action lasting from t0 to t1, calculated from previously provided total maneuver time and time step
Expand source code
def time_vector_length(self, t0, t1): """ :param t0: Start time of action :param t1: End time of action :return: Vector size for action lasting from t0 to t1, calculated from previously provided total maneuver time and time step """ n = self.t().size*(t1-t0)/self.totaltime return floor(n)