Source code for aerosandbox.dynamics.rigid_body.rigid_2D.body

from aerosandbox.dynamics.rigid_body.rigid_3D.body_euler import (
    DynamicsRigidBody3DBodyEuler,
)
from aerosandbox.weights.mass_properties import MassProperties
import aerosandbox.numpy as np
from typing import Union, Dict


[docs]class DynamicsRigidBody2DBody(DynamicsRigidBody3DBodyEuler):
    """
    Dynamics instance:
    * simulating a rigid body
    * in 2D
    * with velocity parameterized in body axes

    State variables:
        x_e: x-position, in Earth axes. [meters]
        z_e: z-position, in Earth axes. [meters]
        u_b: x-velocity, in body axes. [m/s]
        w_b: z-velocity, in body axes. [m/s]
        theta: pitch angle. [rad]
        q: y-angular-velocity, in body axes. [rad/sec]

    Control variables:
        Fx_b: Force along the body-x axis. [N]
        Fz_b: Force along the body-z axis. [N]
        My_b: Moment about the body-y axis. [Nm]

    """

    def __init__(
        self,
        mass_props: MassProperties = None,
        x_e: Union[float, np.ndarray] = 0,
        z_e: Union[float, np.ndarray] = 0,
        u_b: Union[float, np.ndarray] = 0,
        w_b: Union[float, np.ndarray] = 0,
        theta: Union[float, np.ndarray] = 0,
        q: Union[float, np.ndarray] = 0,
    ):
        # Initialize state variables
[docs]        self.mass_props = MassProperties() if mass_props is None else mass_props
[docs]        self.x_e = x_e
[docs]        self.y_e = 0
[docs]        self.z_e = z_e
[docs]        self.u_b = u_b
[docs]        self.v_b = 0
[docs]        self.w_b = w_b
[docs]        self.phi = 0
[docs]        self.theta = theta
[docs]        self.psi = 0
[docs]        self.p = 0
[docs]        self.q = q
[docs]        self.r = 0

        # Initialize control variables
[docs]        self.Fx_b = 0
[docs]        self.Fy_b = 0
[docs]        self.Fz_b = 0
[docs]        self.Mx_b = 0
[docs]        self.My_b = 0
[docs]        self.Mz_b = 0
[docs]        self.hx_b = 0
[docs]        self.hy_b = 0
[docs]        self.hz_b = 0

    @property
[docs]    def state(self):
        return {
            "x_e": self.x_e,
            "z_e": self.z_e,
            "u_b": self.u_b,
            "w_b": self.w_b,
            "theta": self.theta,
            "q": self.q,
        }

    @property
[docs]    def control_variables(self):
        return {
            "Fx_b": self.Fx_b,
            "Fz_b": self.Fz_b,
            "My_b": self.My_b,
        }

[docs]    def state_derivatives(self) -> Dict[str, Union[float, np.ndarray]]:
        derivatives = super().state_derivatives()
        return {k: derivatives[k] for k in self.state.keys()}


if __name__ == "__main__":
[docs]    dyn = DynamicsRigidBody2DBody()