From 2ab63815a9064d42cbf0a3325e373191ffe8d142 Mon Sep 17 00:00:00 2001 From: Moanalengkeek <69005558+Moanalengkeek@users.noreply.github.com> Date: Thu, 21 Dec 2023 13:59:31 +0100 Subject: [PATCH 01/15] Created the initial geometric model, and added it to the actor_builder.py --- paseos/actors/actor_builder.py | 32 +++++++++++++++ paseos/attitude/geometric_model.py | 62 ++++++++++++++++++++++++++++++ 2 files changed, 94 insertions(+) create mode 100644 paseos/attitude/geometric_model.py diff --git a/paseos/actors/actor_builder.py b/paseos/actors/actor_builder.py index 1a53532..a84bac0 100644 --- a/paseos/actors/actor_builder.py +++ b/paseos/actors/actor_builder.py @@ -13,6 +13,7 @@ from ..thermal.thermal_model import ThermalModel from ..power.power_device_type import PowerDeviceType from ..radiation.radiation_model import RadiationModel +from ..attitude.geometric_model import GeometricModel class ActorBuilder: @@ -306,6 +307,37 @@ def set_position(actor: BaseActor, position: list): logger.debug(f"Setting position {position} on actor {actor}") @staticmethod + def set_geometrical_model( + actor: SpacecraftActor, + mass: float, + height: float, + length: float, + width: float, + ): + """Define geometry of the spacecraft actor. + + Args: + actor (SpacecraftActor): Actor to update. + mass (float): Mass of the spacecraft in kg + height (float): Size of the spacecraft in z (nadir) direction in meters + length (float): Size of the spacecraft in y (along-track) direction in meters + width (float): Size of the spacecraft in x (across-track) direction in meters + """ + assert mass >= 0, "Mass is <= 0" + assert height >= 0, "Height is <= 0" + assert length >= 0, "Length is <= 0" + assert width >= 0, "Width is <= 0" + + actor._mass = mass + geometric_model = GeometricModel( + local_actor=actor, + actor_mass=mass, + actor_height=height, + actor_length=length, + actor_width=width, + ) + actor._moi = geometric_model._find_moi + @staticmethod def set_power_devices( actor: SpacecraftActor, battery_level_in_Ws: float, diff --git a/paseos/attitude/geometric_model.py b/paseos/attitude/geometric_model.py new file mode 100644 index 0000000..138c989 --- /dev/null +++ b/paseos/attitude/geometric_model.py @@ -0,0 +1,62 @@ +from loguru import logger +import numpy as np + +class GeometricModel: + """This model describes the geometry of the spacecraft + Currently it assumes the spacecraft to be a cuboid shape, with width, length and height """ + + _actor = None + _actor_mass = None + _actor_height = None + _actor_length = None + _actor_width = None + + def __init__( + self, + local_actor, + actor_mass, + actor_height, + actor_length, + actor_width + ) -> None: + """Describes the geometry of the spacecraft, and outputs relevant parameters related to the spacecraft body. + Width is the size on the x-direction, Length in the y-direction, and height in the z-direction. + + Args: + actor (SpacecraftActor): Actor to model. + actor_mass (float): Actor's mass in kg. + actor_height: Actor's size in the z-direction. + actor_length: Actor's size in the y-direction. + actor_width: Actor's size in the x-direction. + """ + logger.trace("Initializing geometrical model.") + + self._actor = local_actor + self._actor_mass = actor_mass + self._actor_height = actor_height + self._actor_length = actor_length + self._actor_width = actor_width + + @property + def _find_moi(self): + """Actor moment of inertia, currently only suitable for a rectangular prism + + Returns: + np.array: Mass moments of inertia for the actor + + I in the form of [[Ixx Ixy Ixz] + [Iyx Iyy Iyx] + [Izx Izy Izz]] + """ + Ixx = self._actor_mass * (self._actor_height ** 2 + self._actor_length ** 2) / 12 + Iyy = self._actor_mass * (self._actor_height ** 2 + self._actor_width ** 2) / 12 + Izz = self._actor_mass * (self._actor_width ** 2 + self._actor_length ** 2) / 12 + # assume uniform mass distribution, hence Ixy, etc. are all zero + self._actor_I = np.array([[Ixx, 0, 0], + [0, Iyy, 0], + [0, 0, Izz]]) + return self._actor_I + + # potentially add later for disturbances + # def _find_cp(self): + # def _find_dipole(self): \ No newline at end of file From 93aff635f0b3fcc328f306b2c2b05fa8979f1419 Mon Sep 17 00:00:00 2001 From: Moanalengkeek <69005558+Moanalengkeek@users.noreply.github.com> Date: Thu, 21 Dec 2023 14:23:43 +0100 Subject: [PATCH 02/15] Added test_set_geometric_model --- paseos/tests/actor_builder_test.py | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/paseos/tests/actor_builder_test.py b/paseos/tests/actor_builder_test.py index 7dafab5..bdcb5a8 100644 --- a/paseos/tests/actor_builder_test.py +++ b/paseos/tests/actor_builder_test.py @@ -95,3 +95,12 @@ def test_add_comm_device(): assert len(sat1.communication_devices) == 2 assert sat1.communication_devices["dev1"].bandwidth_in_kbps == 10 assert sat1.communication_devices["dev2"].bandwidth_in_kbps == 42 + +def test_set_geometric_model(): + """Check if we can set the geometry, and if the moments of inertia are calculated correctly""" + _, sat1, _ = get_default_instance() + ActorBuilder.set_geometric_model(sat1, mass=100, height=0.5, length=0.5, width=0.5) + + assert sat1.mass == 100 + assert round(sat1.moi[0,0],3) == 4.167 # Value for a h,w,l of each 0.5 + assert sat1.moi[1,1] == 0 # Should be zero if the mass distribution is even From 9d8482d2764cfb68b93afefd3bc03df4e1cb2b7c Mon Sep 17 00:00:00 2001 From: Mr-Medina Date: Fri, 22 Dec 2023 10:55:33 +0100 Subject: [PATCH 03/15] added visualization code example (with added thermal model) to get familiar. Also pushig to test the branch on the fork. --- test_attitude_code/visualize_sim.py | 77 +++++++++++++++++++++++++++++ 1 file changed, 77 insertions(+) create mode 100644 test_attitude_code/visualize_sim.py diff --git a/test_attitude_code/visualize_sim.py b/test_attitude_code/visualize_sim.py new file mode 100644 index 0000000..766c5d7 --- /dev/null +++ b/test_attitude_code/visualize_sim.py @@ -0,0 +1,77 @@ +# We use pykep for orbit determination +import pykep as pk + +import paseos +from paseos.actors.spacecraft_actor import SpacecraftActor +from paseos.actors.actor_builder import ActorBuilder +paseos.set_log_level("INFO") + +# Define central body +earth = pk.planet.jpl_lp("earth") +sat1 = ActorBuilder.get_actor_scaffold( + "sat1", SpacecraftActor, pk.epoch(0) + ) +sat2 = ActorBuilder.get_actor_scaffold( + "sat2", SpacecraftActor, pk.epoch(0) +) + +# Define local actor +sat3 = ActorBuilder.get_actor_scaffold( + "sat3", SpacecraftActor, pk.epoch(0) +) +ActorBuilder.set_orbit(sat3, [-10000000, 0.1, 0.1], [0, 8000.0, 0], pk.epoch(0), earth) +ActorBuilder.set_power_devices(sat3, 500, 10000, 1) + +sat4 = ActorBuilder.get_actor_scaffold( + "sat4", SpacecraftActor, pk.epoch(0) +) +ActorBuilder.set_orbit(sat4, [0, 10000000, 0], [0, 0, 8000.0], pk.epoch(0), earth) + + +ActorBuilder.set_orbit( + sat1, + position=[10000000, 1e-3, 1e-3], + velocity=[1e-3, 8000, 1e-3], + epoch=pk.epoch(0), + central_body=earth, +) +ActorBuilder.set_orbit( + sat2, + position=[10000000, 1e-3, 1e-3], + velocity=[1e-3, -8000, 1e-3], + epoch=pk.epoch(0), + central_body=earth, +) + +ActorBuilder.set_thermal_model( + sat1, + actor_mass=100, + actor_initial_temperature_in_K=270, + actor_sun_absorptance=0.5, + actor_infrared_absorptance=0.5, + actor_sun_facing_area=1, + actor_central_body_facing_area=4, + actor_emissive_area=18, + actor_thermal_capacity=0.89, +) + +# Add communication link +ActorBuilder.add_comm_device(sat1, device_name="link1", bandwidth_in_kbps=1) +ActorBuilder.add_comm_device(sat2, device_name="link1", bandwidth_in_kbps=2) +ActorBuilder.set_power_devices(sat1, 500, 10000, 1) +ActorBuilder.set_power_devices(sat2, 500, 10000, 1) +sim = paseos.init_sim(sat1) +sim.add_known_actor(sat2) +sim.add_known_actor(sat3) +sim.add_known_actor(sat4) + +# Plot current status of PASEOS and get a plotter +plotter = paseos.plot(sim, paseos.PlotType.SpacePlot) +#%% +# Run some operations and inbetween update PASEOS +for i in range(100): + sim.advance_time(10,0) + plotter.update(sim) +#%% +# Write an animation of the next 50 steps a 100s to a file called test.mp4 +plotter.animate(sim,dt=200,steps=100,save_to_file="test") \ No newline at end of file From 302097d9f0cb1000f7c06b0901ba48a6ed3d6699 Mon Sep 17 00:00:00 2001 From: Moanalengkeek <69005558+Moanalengkeek@users.noreply.github.com> Date: Fri, 22 Dec 2023 11:29:16 +0100 Subject: [PATCH 04/15] Created second geometric model to import .obj files, and created a test for it --- paseos/actors/actor_builder.py | 32 +++++++++++-- paseos/attitude/geometric_model.py | 72 +++++++++++++++++++++++++++++- paseos/tests/actor_builder_test.py | 29 +++++++++++- 3 files changed, 127 insertions(+), 6 deletions(-) diff --git a/paseos/actors/actor_builder.py b/paseos/actors/actor_builder.py index a84bac0..bca510c 100644 --- a/paseos/actors/actor_builder.py +++ b/paseos/actors/actor_builder.py @@ -13,7 +13,7 @@ from ..thermal.thermal_model import ThermalModel from ..power.power_device_type import PowerDeviceType from ..radiation.radiation_model import RadiationModel -from ..attitude.geometric_model import GeometricModel +from ..attitude.geometric_model import CuboidGeometricModel, ImportGeometricModel class ActorBuilder: @@ -307,7 +307,7 @@ def set_position(actor: BaseActor, position: list): logger.debug(f"Setting position {position} on actor {actor}") @staticmethod - def set_geometrical_model( + def set_cuboid_geometric_model( actor: SpacecraftActor, mass: float, height: float, @@ -329,7 +329,7 @@ def set_geometrical_model( assert width >= 0, "Width is <= 0" actor._mass = mass - geometric_model = GeometricModel( + geometric_model = CuboidGeometricModel( local_actor=actor, actor_mass=mass, actor_height=height, @@ -337,6 +337,32 @@ def set_geometrical_model( actor_width=width, ) actor._moi = geometric_model._find_moi + + @staticmethod + def set_geometric_model_from_import( + actor: SpacecraftActor, + mass: float, + file_name: str, + ): + """Define geometry of the spacecraft actor. + + Args: + actor (SpacecraftActor): Actor to update. + mass (float): Mass of the spacecraft in kg + file_name (string): Name of the .obj file to use as geometric mesh + """ + assert mass >= 0, "Mass is <= 0" + + actor._mass = mass + geometric_model = ImportGeometricModel( + local_actor=actor, + actor_mass=mass, + model_name=file_name + ) + actor._moi = geometric_model._find_moi + actor._cg = geometric_model._find_cg + actor._mesh = geometric_model._mesh + @staticmethod def set_power_devices( actor: SpacecraftActor, diff --git a/paseos/attitude/geometric_model.py b/paseos/attitude/geometric_model.py index 138c989..f30e7a8 100644 --- a/paseos/attitude/geometric_model.py +++ b/paseos/attitude/geometric_model.py @@ -1,7 +1,9 @@ from loguru import logger import numpy as np +import trimesh +# import matplotlib.pyplot as plt -class GeometricModel: +class CuboidGeometricModel: """This model describes the geometry of the spacecraft Currently it assumes the spacecraft to be a cuboid shape, with width, length and height """ @@ -29,7 +31,7 @@ def __init__( actor_length: Actor's size in the y-direction. actor_width: Actor's size in the x-direction. """ - logger.trace("Initializing geometrical model.") + logger.trace("Initializing cuboid geometrical model.") self._actor = local_actor self._actor_mass = actor_mass @@ -57,6 +59,72 @@ def _find_moi(self): [0, 0, Izz]]) return self._actor_I + def _find_cg(self): + """Gives the volumetric center of mass of the actor. + + Returns: + np.array: Coordinates of the center of gravity of the mesh + """ + return np.array([0,0,0]) + + # potentially add later for disturbances + # def _find_cp(self): + # def _find_dipole(self): + + +class ImportGeometricModel: + """This model describes the geometry of the spacecraft + It uses the package Trimesh to be able to import an .obj file and use this as the satellite's shape. + The coordinate system of the mesh is adopted for the satellite + """ + + _actor = None + _actor_mass = None + + def __init__( + self, + local_actor, + actor_mass, + model_name + ) -> None: + """Describes the geometry of the spacecraft, and outputs relevant parameters related to the spacecraft body. + + + Args: + actor (SpacecraftActor): Actor to model. + actor_mass (float): Actor's mass in kg. + model_name (string): Name of the .obj file to use as satellite geometry + """ + logger.trace("Initializing import geometrical model.") + + self._actor = local_actor + self._actor_mass = actor_mass + self._mesh = trimesh.load_mesh('objects/' + model_name + '.obj') + + @property + def _find_moi(self): + """Gives the moment of inertia of the actor, assuming constant density + + Returns: + np.array: Mass moments of inertia for the actor + + I in the form of [[Ixx Ixy Ixz] + [Iyx Iyy Iyx] + [Izx Izy Izz]] + """ + self._actor_I = self._mesh.moment_inertia + return self._actor_I + + def _find_cg(self): + """Gives the volumetric center of mass of the actor. + + Returns: + np.array: Coordinates of the center of gravity of the mesh + """ + self._actor_cg = self._mesh.center_mass + return self._actor_cg + + # potentially add later for disturbances # def _find_cp(self): # def _find_dipole(self): \ No newline at end of file diff --git a/paseos/tests/actor_builder_test.py b/paseos/tests/actor_builder_test.py index bdcb5a8..afa7d9b 100644 --- a/paseos/tests/actor_builder_test.py +++ b/paseos/tests/actor_builder_test.py @@ -2,6 +2,7 @@ import numpy as np import pykep as pk import sys +import plotly.graph_objects as go sys.path.append("../..") @@ -99,8 +100,34 @@ def test_add_comm_device(): def test_set_geometric_model(): """Check if we can set the geometry, and if the moments of inertia are calculated correctly""" _, sat1, _ = get_default_instance() - ActorBuilder.set_geometric_model(sat1, mass=100, height=0.5, length=0.5, width=0.5) + ActorBuilder.set_cuboid_geometric_model(sat1, mass=100, height=0.5, length=0.5, width=0.5) assert sat1.mass == 100 assert round(sat1.moi[0,0],3) == 4.167 # Value for a h,w,l of each 0.5 assert sat1.moi[1,1] == 0 # Should be zero if the mass distribution is even + +def test_view_geometric_model(): + """Provide a visualisation of the imported geometric model, and test if the cg is in the correct location + """ + _, sat1, _ = get_default_instance() + ActorBuilder.set_geometric_model_from_import(sat1,mass=100,file_name='20265_Hexagonal_prism_v1') + + assert sat1._cg == np.array([0,0,5]) + # Create trace for the mesh and axis + mesh = sat1._mesh + mesh_trace = go.Mesh3d(x=mesh.vertices[:, 0], y=mesh.vertices[:, 1], z=mesh.vertices[:, 2], + i=mesh.faces[:, 0], j=mesh.faces[:, 1], k=mesh.faces[:, 2], + color='lightblue', opacity=0.5) + axis_length = 5 # Length of the axes + axis_end = [[0, 0, 0], [axis_length, 0, 0]], [[0, 0, 0], [0, axis_length, 0]], [[0, 0, 0], [0, 0, axis_length]] + axis_traces = [go.Scatter3d(x=[end[0][0], end[1][0]], y=[end[0][1], end[1][1]], z=[end[0][2], end[1][2]], + marker=dict(color=col), line=dict(color=col, width=4), name=lab) + for end, col, lab in zip(axis_end, ['red', 'green', 'blue'], ['X-axis', 'Y-axis', 'Z-axis'])] + point_coordinates = sat1._cg + + # Create a trace for the single point + point_trace = go.Scatter3d(x=[point_coordinates[0]], y=[point_coordinates[1]], z=[point_coordinates[2]], + mode='markers', marker=dict(size=5, color='red'), name='Single Point') + fig = go.Figure(data=[mesh_trace] + axis_traces + [point_trace]) + fig.update_layout(scene=dict(aspectmode='data')) + fig.show() From d781cbdd860100e5d1a09d85cec267ffdd782ca5 Mon Sep 17 00:00:00 2001 From: Moanalengkeek <69005558+Moanalengkeek@users.noreply.github.com> Date: Fri, 22 Dec 2023 11:34:33 +0100 Subject: [PATCH 05/15] Added the .obj files used as an example --- objects/20265_Hexagonal_prism_v1.obj | 4923 ++++++++++++++++++++++++++ objects/Blank image.jpg | 0 2 files changed, 4923 insertions(+) create mode 100644 objects/20265_Hexagonal_prism_v1.obj create mode 100644 objects/Blank image.jpg diff --git a/objects/20265_Hexagonal_prism_v1.obj b/objects/20265_Hexagonal_prism_v1.obj new file mode 100644 index 0000000..ca1147c --- /dev/null +++ b/objects/20265_Hexagonal_prism_v1.obj @@ -0,0 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613/614/79 612/613/448 +f 1307/1330/79 1306/1329/448 612/613/448 618/619/79 +f 1308/1331/79 1279/1302/79 1277/1300/863 1306/1329/448 +f 1309/1332/79 1308/1331/79 1306/1329/448 1307/1330/79 +f 766/772/79 1310/1333/79 630/631/79 633/634/79 +f 771/777/79 1311/1334/79 1310/1333/79 766/772/79 +f 1310/1333/79 1307/1330/79 618/619/79 630/631/79 +f 1311/1334/79 1309/1332/79 1307/1330/79 1310/1333/79 +f 1312/1335/79 783/789/79 786/792/79 909/932/79 +f 1313/1336/79 1312/1335/79 909/932/79 914/937/79 +f 1311/1334/79 771/777/79 783/789/79 1312/1335/79 +f 1309/1332/79 1311/1334/79 1312/1335/79 1313/1336/79 +f 1282/1305/683 1314/1337/79 926/949/683 929/952/448 +f 1279/1302/79 1308/1331/79 1314/1337/79 1282/1305/683 +f 1314/1337/79 1313/1336/79 914/937/79 926/949/683 +f 1308/1331/79 1309/1332/79 1313/1336/79 1314/1337/79 +# 1312 polygons + diff --git a/objects/Blank image.jpg b/objects/Blank image.jpg new file mode 100644 index 0000000..e69de29 From 53a868b9bd3466acd22011885b22d6f4b383c210 Mon Sep 17 00:00:00 2001 From: Moanalengkeek <69005558+Moanalengkeek@users.noreply.github.com> Date: Fri, 22 Dec 2023 12:31:27 +0100 Subject: [PATCH 06/15] Finalising the tests, and formatting of all changed sections of the three files --- paseos/actors/actor_builder.py | 2 +- paseos/attitude/geometric_model.py | 43 +++++++++++++----------------- paseos/tests/actor_builder_test.py | 19 ++++++++----- 3 files changed, 31 insertions(+), 33 deletions(-) diff --git a/paseos/actors/actor_builder.py b/paseos/actors/actor_builder.py index bca510c..680e63f 100644 --- a/paseos/actors/actor_builder.py +++ b/paseos/actors/actor_builder.py @@ -360,7 +360,7 @@ def set_geometric_model_from_import( model_name=file_name ) actor._moi = geometric_model._find_moi - actor._cg = geometric_model._find_cg + actor._center_of_gravity = geometric_model.find_cg() actor._mesh = geometric_model._mesh @staticmethod diff --git a/paseos/attitude/geometric_model.py b/paseos/attitude/geometric_model.py index f30e7a8..02af870 100644 --- a/paseos/attitude/geometric_model.py +++ b/paseos/attitude/geometric_model.py @@ -1,11 +1,12 @@ from loguru import logger import numpy as np import trimesh -# import matplotlib.pyplot as plt + class CuboidGeometricModel: """This model describes the geometry of the spacecraft - Currently it assumes the spacecraft to be a cuboid shape, with width, length and height """ + Currently it assumes the spacecraft to be a cuboid shape, with width, length and height + """ _actor = None _actor_mass = None @@ -14,12 +15,7 @@ class CuboidGeometricModel: _actor_width = None def __init__( - self, - local_actor, - actor_mass, - actor_height, - actor_length, - actor_width + self, local_actor, actor_mass, actor_height, actor_length, actor_width ) -> None: """Describes the geometry of the spacecraft, and outputs relevant parameters related to the spacecraft body. Width is the size on the x-direction, Length in the y-direction, and height in the z-direction. @@ -50,13 +46,13 @@ def _find_moi(self): [Iyx Iyy Iyx] [Izx Izy Izz]] """ - Ixx = self._actor_mass * (self._actor_height ** 2 + self._actor_length ** 2) / 12 - Iyy = self._actor_mass * (self._actor_height ** 2 + self._actor_width ** 2) / 12 - Izz = self._actor_mass * (self._actor_width ** 2 + self._actor_length ** 2) / 12 + Ixx = ( + self._actor_mass * (self._actor_height**2 + self._actor_length**2) / 12 + ) + Iyy = self._actor_mass * (self._actor_height**2 + self._actor_width**2) / 12 + Izz = self._actor_mass * (self._actor_width**2 + self._actor_length**2) / 12 # assume uniform mass distribution, hence Ixy, etc. are all zero - self._actor_I = np.array([[Ixx, 0, 0], - [0, Iyy, 0], - [0, 0, Izz]]) + self._actor_I = np.array([[Ixx, 0, 0], [0, Iyy, 0], [0, 0, Izz]]) return self._actor_I def _find_cg(self): @@ -65,7 +61,7 @@ def _find_cg(self): Returns: np.array: Coordinates of the center of gravity of the mesh """ - return np.array([0,0,0]) + return np.array([0, 0, 0]) # potentially add later for disturbances # def _find_cp(self): @@ -80,13 +76,10 @@ class ImportGeometricModel: _actor = None _actor_mass = None + _actor_cg = None + _actor_I = None - def __init__( - self, - local_actor, - actor_mass, - model_name - ) -> None: + def __init__(self, local_actor, actor_mass, model_name) -> None: """Describes the geometry of the spacecraft, and outputs relevant parameters related to the spacecraft body. @@ -99,7 +92,8 @@ def __init__( self._actor = local_actor self._actor_mass = actor_mass - self._mesh = trimesh.load_mesh('objects/' + model_name + '.obj') + file_path = "../../objects/" + model_name + ".obj" + self._mesh = trimesh.load_mesh(file_path) @property def _find_moi(self): @@ -115,7 +109,7 @@ def _find_moi(self): self._actor_I = self._mesh.moment_inertia return self._actor_I - def _find_cg(self): + def find_cg(self): """Gives the volumetric center of mass of the actor. Returns: @@ -124,7 +118,6 @@ def _find_cg(self): self._actor_cg = self._mesh.center_mass return self._actor_cg - # potentially add later for disturbances # def _find_cp(self): - # def _find_dipole(self): \ No newline at end of file + # def _find_dipole(self): diff --git a/paseos/tests/actor_builder_test.py b/paseos/tests/actor_builder_test.py index afa7d9b..ddfac9f 100644 --- a/paseos/tests/actor_builder_test.py +++ b/paseos/tests/actor_builder_test.py @@ -3,6 +3,7 @@ import pykep as pk import sys import plotly.graph_objects as go +from loguru import logger sys.path.append("../..") @@ -97,22 +98,23 @@ def test_add_comm_device(): assert sat1.communication_devices["dev1"].bandwidth_in_kbps == 10 assert sat1.communication_devices["dev2"].bandwidth_in_kbps == 42 + def test_set_geometric_model(): """Check if we can set the geometry, and if the moments of inertia are calculated correctly""" _, sat1, _ = get_default_instance() ActorBuilder.set_cuboid_geometric_model(sat1, mass=100, height=0.5, length=0.5, width=0.5) assert sat1.mass == 100 - assert round(sat1.moi[0,0],3) == 4.167 # Value for a h,w,l of each 0.5 - assert sat1.moi[1,1] == 0 # Should be zero if the mass distribution is even + assert round(sat1._moi[0,0],3) == 4.167 # Value for a h,w,l of each 0.5 + assert sat1._moi[0,1] == 0.0 # Should be zero if the mass distribution is even def test_view_geometric_model(): """Provide a visualisation of the imported geometric model, and test if the cg is in the correct location """ _, sat1, _ = get_default_instance() - ActorBuilder.set_geometric_model_from_import(sat1,mass=100,file_name='20265_Hexagonal_prism_v1') - - assert sat1._cg == np.array([0,0,5]) + ActorBuilder.set_geometric_model_from_import(sat1,mass=100,file_name='20265_Hexagonal_prism_v1') # test only runs + # if '../../' is added to start of the file name in geometric_model.pu + assert np.all(np.round(sat1._center_of_gravity, decimals=0) == np.array([0, 0, 6])) # Create trace for the mesh and axis mesh = sat1._mesh mesh_trace = go.Mesh3d(x=mesh.vertices[:, 0], y=mesh.vertices[:, 1], z=mesh.vertices[:, 2], @@ -123,11 +125,14 @@ def test_view_geometric_model(): axis_traces = [go.Scatter3d(x=[end[0][0], end[1][0]], y=[end[0][1], end[1][1]], z=[end[0][2], end[1][2]], marker=dict(color=col), line=dict(color=col, width=4), name=lab) for end, col, lab in zip(axis_end, ['red', 'green', 'blue'], ['X-axis', 'Y-axis', 'Z-axis'])] - point_coordinates = sat1._cg + point_coordinates = sat1._center_of_gravity # Create a trace for the single point point_trace = go.Scatter3d(x=[point_coordinates[0]], y=[point_coordinates[1]], z=[point_coordinates[2]], - mode='markers', marker=dict(size=5, color='red'), name='Single Point') + mode='markers', marker=dict(size=10, color='orange'), name='Center of Gravity') fig = go.Figure(data=[mesh_trace] + axis_traces + [point_trace]) fig.update_layout(scene=dict(aspectmode='data')) fig.show() + + +test1 = test_view_geometric_model() \ No newline at end of file From 1b17bc033ec077b961fe51d7cc059fc7747e6756 Mon Sep 17 00:00:00 2001 From: Moanalengkeek <69005558+Moanalengkeek@users.noreply.github.com> Date: Fri, 22 Dec 2023 12:31:43 +0100 Subject: [PATCH 07/15] Finalising the tests, and formatting of all changed sections of the three files --- paseos/tests/actor_builder_test.py | 3 --- 1 file changed, 3 deletions(-) diff --git a/paseos/tests/actor_builder_test.py b/paseos/tests/actor_builder_test.py index ddfac9f..4136f30 100644 --- a/paseos/tests/actor_builder_test.py +++ b/paseos/tests/actor_builder_test.py @@ -133,6 +133,3 @@ def test_view_geometric_model(): fig = go.Figure(data=[mesh_trace] + axis_traces + [point_trace]) fig.update_layout(scene=dict(aspectmode='data')) fig.show() - - -test1 = test_view_geometric_model() \ No newline at end of file From 30e388f621ff12ad2859961f5103a0fa562bcc05 Mon Sep 17 00:00:00 2001 From: Moanalengkeek <69005558+Moanalengkeek@users.noreply.github.com> Date: Fri, 22 Dec 2023 12:32:18 +0100 Subject: [PATCH 08/15] Removed the ../../ in the file name that is needed during testing --- paseos/attitude/geometric_model.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/paseos/attitude/geometric_model.py b/paseos/attitude/geometric_model.py index 02af870..2fbd916 100644 --- a/paseos/attitude/geometric_model.py +++ b/paseos/attitude/geometric_model.py @@ -92,7 +92,7 @@ def __init__(self, local_actor, actor_mass, model_name) -> None: self._actor = local_actor self._actor_mass = actor_mass - file_path = "../../objects/" + model_name + ".obj" + file_path = "objects/" + model_name + ".obj" self._mesh = trimesh.load_mesh(file_path) @property From 9fe50cba946d0296b9e9f84c356af15437da9de4 Mon Sep 17 00:00:00 2001 From: Moanalengkeek <69005558+Moanalengkeek@users.noreply.github.com> Date: Fri, 22 Dec 2023 12:39:40 +0100 Subject: [PATCH 09/15] Revert "added visualization code example (with added thermal model) to get familiar. Also pushig to test the branch on the fork." This reverts commit 9d8482d2764cfb68b93afefd3bc03df4e1cb2b7c. --- test_attitude_code/visualize_sim.py | 77 ----------------------------- 1 file changed, 77 deletions(-) delete mode 100644 test_attitude_code/visualize_sim.py diff --git a/test_attitude_code/visualize_sim.py b/test_attitude_code/visualize_sim.py deleted file mode 100644 index 766c5d7..0000000 --- a/test_attitude_code/visualize_sim.py +++ /dev/null @@ -1,77 +0,0 @@ -# We use pykep for orbit determination -import pykep as pk - -import paseos -from paseos.actors.spacecraft_actor import SpacecraftActor -from paseos.actors.actor_builder import ActorBuilder -paseos.set_log_level("INFO") - -# Define central body -earth = pk.planet.jpl_lp("earth") -sat1 = ActorBuilder.get_actor_scaffold( - "sat1", SpacecraftActor, pk.epoch(0) - ) -sat2 = ActorBuilder.get_actor_scaffold( - "sat2", SpacecraftActor, pk.epoch(0) -) - -# Define local actor -sat3 = ActorBuilder.get_actor_scaffold( - "sat3", SpacecraftActor, pk.epoch(0) -) -ActorBuilder.set_orbit(sat3, [-10000000, 0.1, 0.1], [0, 8000.0, 0], pk.epoch(0), earth) -ActorBuilder.set_power_devices(sat3, 500, 10000, 1) - -sat4 = ActorBuilder.get_actor_scaffold( - "sat4", SpacecraftActor, pk.epoch(0) -) -ActorBuilder.set_orbit(sat4, [0, 10000000, 0], [0, 0, 8000.0], pk.epoch(0), earth) - - -ActorBuilder.set_orbit( - sat1, - position=[10000000, 1e-3, 1e-3], - velocity=[1e-3, 8000, 1e-3], - epoch=pk.epoch(0), - central_body=earth, -) -ActorBuilder.set_orbit( - sat2, - position=[10000000, 1e-3, 1e-3], - velocity=[1e-3, -8000, 1e-3], - epoch=pk.epoch(0), - central_body=earth, -) - -ActorBuilder.set_thermal_model( - sat1, - actor_mass=100, - actor_initial_temperature_in_K=270, - actor_sun_absorptance=0.5, - actor_infrared_absorptance=0.5, - actor_sun_facing_area=1, - actor_central_body_facing_area=4, - actor_emissive_area=18, - actor_thermal_capacity=0.89, -) - -# Add communication link -ActorBuilder.add_comm_device(sat1, device_name="link1", bandwidth_in_kbps=1) -ActorBuilder.add_comm_device(sat2, device_name="link1", bandwidth_in_kbps=2) -ActorBuilder.set_power_devices(sat1, 500, 10000, 1) -ActorBuilder.set_power_devices(sat2, 500, 10000, 1) -sim = paseos.init_sim(sat1) -sim.add_known_actor(sat2) -sim.add_known_actor(sat3) -sim.add_known_actor(sat4) - -# Plot current status of PASEOS and get a plotter -plotter = paseos.plot(sim, paseos.PlotType.SpacePlot) -#%% -# Run some operations and inbetween update PASEOS -for i in range(100): - sim.advance_time(10,0) - plotter.update(sim) -#%% -# Write an animation of the next 50 steps a 100s to a file called test.mp4 -plotter.animate(sim,dt=200,steps=100,save_to_file="test") \ No newline at end of file From 2ab6522a38cd2ac7c40e2109a39cf9ca02896ae9 Mon Sep 17 00:00:00 2001 From: Moanalengkeek <69005558+Moanalengkeek@users.noreply.github.com> Date: Wed, 3 Jan 2024 10:33:28 +0100 Subject: [PATCH 10/15] Update paseos/actors/actor_builder.py based on pull request review MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Pablo Gómez --- paseos/actors/actor_builder.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/paseos/actors/actor_builder.py b/paseos/actors/actor_builder.py index 680e63f..df54dfc 100644 --- a/paseos/actors/actor_builder.py +++ b/paseos/actors/actor_builder.py @@ -323,7 +323,7 @@ def set_cuboid_geometric_model( length (float): Size of the spacecraft in y (along-track) direction in meters width (float): Size of the spacecraft in x (across-track) direction in meters """ - assert mass >= 0, "Mass is <= 0" + assert mass > 0, "Mass is > 0" assert height >= 0, "Height is <= 0" assert length >= 0, "Length is <= 0" assert width >= 0, "Width is <= 0" From 7404ce2b8231bc944c591cde9bd90c6405b7aab5 Mon Sep 17 00:00:00 2001 From: Moanalengkeek <69005558+Moanalengkeek@users.noreply.github.com> Date: Wed, 3 Jan 2024 10:45:42 +0100 Subject: [PATCH 11/15] Update paseos/attitude/geometric_model.py MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Pablo Gómez --- paseos/attitude/geometric_model.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/paseos/attitude/geometric_model.py b/paseos/attitude/geometric_model.py index 2fbd916..ab98097 100644 --- a/paseos/attitude/geometric_model.py +++ b/paseos/attitude/geometric_model.py @@ -21,7 +21,7 @@ def __init__( Width is the size on the x-direction, Length in the y-direction, and height in the z-direction. Args: - actor (SpacecraftActor): Actor to model. + local_actor (SpacecraftActor): Actor to model. actor_mass (float): Actor's mass in kg. actor_height: Actor's size in the z-direction. actor_length: Actor's size in the y-direction. From 8d1f8ce903e68ef904b0fae83a8ed1e1eff9dff0 Mon Sep 17 00:00:00 2001 From: Moanalengkeek <69005558+Moanalengkeek@users.noreply.github.com> Date: Wed, 3 Jan 2024 10:49:22 +0100 Subject: [PATCH 12/15] Changed based on the feedback given in the pull request on 29/12/23. --- environment.yml | 1 + objects/20265_Hexagonal_prism_v1.obj | 4923 -------------------------- objects/Blank image.jpg | 0 paseos/actors/actor_builder.py | 54 +- paseos/attitude/geometric_model.py | 135 +- paseos/tests/actor_builder_test.py | 35 +- requirements.txt | 3 +- setup.py | 1 + 8 files changed, 76 insertions(+), 5076 deletions(-) delete mode 100644 objects/20265_Hexagonal_prism_v1.obj delete mode 100644 objects/Blank image.jpg diff --git a/environment.yml b/environment.yml index 4a6c489..db603c8 100644 --- a/environment.yml +++ b/environment.yml @@ -18,3 +18,4 @@ dependencies: - sphinx_rtd_theme # for docs - toml>=0.10.2 # core non-optional dependency - tqdm>=4.64.1 # core non-optional dependency + - 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1259/1282/923 1257/1280/921 1254/1277/920 1258/1281/922 -f 1260/1283/924 1090/1113/796 366/367/274 1144/1167/841 -f 1261/1284/925 1260/1283/924 1144/1167/841 1147/1170/844 -f 1259/1282/923 1092/1115/798 1090/1113/796 1260/1283/924 -f 1257/1280/921 1259/1282/923 1260/1283/924 1261/1284/925 -f 1262/1285/564 1263/1286/855 1158/1181/855 1161/1184/686 -f 1256/1279/564 1255/1278/916 1263/1286/855 1262/1285/564 -f 1263/1286/855 1261/1284/925 1147/1170/844 1158/1181/855 -f 1255/1278/916 1257/1280/921 1261/1284/925 1263/1286/855 -f 1264/1287/926 964/987/702 967/990/705 1154/1177/851 -f 1265/1288/927 1264/1287/926 1154/1177/851 1151/1174/848 -f 1266/1289/928 968/991/706 964/987/702 1264/1287/926 -f 1267/1290/929 1266/1289/928 1264/1287/926 1265/1288/927 -f 360/361/268 1268/1291/930 1149/1172/846 361/362/269 -f 355/356/263 1269/1292/931 1268/1291/930 360/361/268 -f 1268/1291/930 1265/1288/927 1151/1174/848 1149/1172/846 -f 1269/1292/931 1267/1290/929 1265/1288/927 1268/1291/930 -f 1270/1293/932 353/354/261 113/113/43 1247/1270/325 -f 1271/1294/933 1270/1293/932 1247/1270/325 1243/1266/918 -f 1269/1292/931 355/356/263 353/354/261 1270/1293/932 -f 1267/1290/929 1269/1292/931 1270/1293/932 1271/1294/933 -f 971/994/323 1272/1295/934 1241/1264/917 898/921/60 -f 968/991/706 1266/1289/928 1272/1295/934 971/994/323 -f 1272/1295/934 1271/1294/933 1243/1266/918 1241/1264/917 -f 1266/1289/928 1267/1290/929 1271/1294/933 1272/1295/934 -f 1273/1296/79 1066/1089/79 489/490/79 1218/1241/79 -f 1274/1297/79 1273/1296/79 1218/1241/79 1216/1239/79 -f 1275/1298/79 1068/1091/79 1066/1089/79 1273/1296/79 -f 1276/1299/79 1275/1298/79 1273/1296/79 1274/1297/79 -f 1277/1300/863 1278/1301/79 1214/1237/863 613/614/79 -f 1279/1302/79 1280/1303/79 1278/1301/79 1277/1300/863 -f 1278/1301/79 1274/1297/79 1216/1239/79 1214/1237/863 -f 1280/1303/79 1276/1299/79 1274/1297/79 1278/1301/79 -f 1281/1304/79 1282/1305/683 929/952/448 1181/1204/863 -f 1283/1306/79 1281/1304/79 1181/1204/863 1177/1200/79 -f 1280/1303/79 1279/1302/79 1282/1305/683 1281/1304/79 -f 1276/1299/79 1280/1303/79 1281/1304/79 1283/1306/79 -f 1070/1093/79 1284/1307/79 1175/1198/79 168/168/79 -f 1068/1091/79 1275/1298/79 1284/1307/79 1070/1093/79 -f 1284/1307/79 1283/1306/79 1177/1200/79 1175/1198/79 -f 1275/1298/79 1276/1299/79 1283/1306/79 1284/1307/79 -f 1285/1308/935 1155/1178/852 967/990/705 966/989/704 -f 1286/1309/936 1285/1308/935 966/989/704 961/984/699 -f 1287/1310/937 1157/1180/854 1155/1178/852 1285/1308/935 -f 1288/1311/938 1287/1310/937 1285/1308/935 1286/1309/936 -f 991/1014/727 1289/1312/939 959/982/697 410/411/318 -f 994/1017/730 1290/1313/940 1289/1312/939 991/1014/727 -f 1289/1312/939 1286/1309/936 961/984/699 959/982/697 -f 1290/1313/940 1288/1311/938 1286/1309/936 1289/1312/939 -f 1291/1314/941 1005/1028/741 948/971/564 1292/1315/384 -f 1293/1316/942 1291/1314/941 1292/1315/384 1294/1317/686 -f 1290/1313/940 994/1017/730 1005/1028/741 1291/1314/941 -f 1288/1311/938 1290/1313/940 1291/1314/941 1293/1316/942 -f 1160/1183/857 1295/1318/943 1296/1319/384 1161/1184/686 -f 1157/1180/854 1287/1310/937 1295/1318/943 1160/1183/857 -f 1295/1318/943 1293/1316/942 1294/1317/686 1296/1319/384 -f 1287/1310/937 1288/1311/938 1293/1316/942 1295/1318/943 -f 1297/1320/484 942/965/564 509/510/384 745/751/384 -f 1298/1321/384 1297/1320/484 745/751/384 743/749/564 -f 1299/1322/564 944/967/564 942/965/564 1297/1320/484 -f 1300/1323/564 1299/1322/564 1297/1320/484 1298/1321/384 -f 1253/1276/384 1301/1324/484 741/747/384 740/746/564 -f 1256/1279/564 1302/1325/384 1301/1324/484 1253/1276/384 -f 1301/1324/484 1298/1321/384 743/749/564 741/747/384 -f 1302/1325/384 1300/1323/564 1298/1321/384 1301/1324/484 -f 1303/1326/484 1262/1285/564 1161/1184/686 1296/1319/384 -f 1304/1327/564 1303/1326/484 1296/1319/384 1294/1317/686 -f 1302/1325/384 1256/1279/564 1262/1285/564 1303/1326/484 -f 1300/1323/564 1302/1325/384 1303/1326/484 1304/1327/564 -f 947/970/384 1305/1328/484 1292/1315/384 948/971/564 -f 944/967/564 1299/1322/564 1305/1328/484 947/970/384 -f 1305/1328/484 1304/1327/564 1294/1317/686 1292/1315/384 -f 1299/1322/564 1300/1323/564 1304/1327/564 1305/1328/484 -f 1306/1329/448 1277/1300/863 613/614/79 612/613/448 -f 1307/1330/79 1306/1329/448 612/613/448 618/619/79 -f 1308/1331/79 1279/1302/79 1277/1300/863 1306/1329/448 -f 1309/1332/79 1308/1331/79 1306/1329/448 1307/1330/79 -f 766/772/79 1310/1333/79 630/631/79 633/634/79 -f 771/777/79 1311/1334/79 1310/1333/79 766/772/79 -f 1310/1333/79 1307/1330/79 618/619/79 630/631/79 -f 1311/1334/79 1309/1332/79 1307/1330/79 1310/1333/79 -f 1312/1335/79 783/789/79 786/792/79 909/932/79 -f 1313/1336/79 1312/1335/79 909/932/79 914/937/79 -f 1311/1334/79 771/777/79 783/789/79 1312/1335/79 -f 1309/1332/79 1311/1334/79 1312/1335/79 1313/1336/79 -f 1282/1305/683 1314/1337/79 926/949/683 929/952/448 -f 1279/1302/79 1308/1331/79 1314/1337/79 1282/1305/683 -f 1314/1337/79 1313/1336/79 914/937/79 926/949/683 -f 1308/1331/79 1309/1332/79 1313/1336/79 1314/1337/79 -# 1312 polygons - diff --git a/objects/Blank image.jpg b/objects/Blank image.jpg deleted file mode 100644 index e69de29..0000000 diff --git a/paseos/actors/actor_builder.py b/paseos/actors/actor_builder.py index 680e63f..0953c74 100644 --- a/paseos/actors/actor_builder.py +++ b/paseos/actors/actor_builder.py @@ -13,7 +13,7 @@ from ..thermal.thermal_model import ThermalModel from ..power.power_device_type import PowerDeviceType from ..radiation.radiation_model import RadiationModel -from ..attitude.geometric_model import CuboidGeometricModel, ImportGeometricModel +from ..attitude.geometric_model import GeometricModel class ActorBuilder: @@ -307,61 +307,37 @@ def set_position(actor: BaseActor, position: list): logger.debug(f"Setting position {position} on actor {actor}") @staticmethod - def set_cuboid_geometric_model( + def set_geometric_model( actor: SpacecraftActor, mass: float, - height: float, - length: float, - width: float, + vertices=None, + faces=None, + scale: float=1 + ): """Define geometry of the spacecraft actor. Args: actor (SpacecraftActor): Actor to update. mass (float): Mass of the spacecraft in kg - height (float): Size of the spacecraft in z (nadir) direction in meters - length (float): Size of the spacecraft in y (along-track) direction in meters - width (float): Size of the spacecraft in x (across-track) direction in meters + vertices (list): List of all vertices of the mesh + faces (list): List of the indexes of the vertices of a face + scale (float): Parameter to scale the cuboid by, defaults to 1 """ assert mass >= 0, "Mass is <= 0" - assert height >= 0, "Height is <= 0" - assert length >= 0, "Length is <= 0" - assert width >= 0, "Width is <= 0" actor._mass = mass - geometric_model = CuboidGeometricModel( + geometric_model = GeometricModel( local_actor=actor, actor_mass=mass, - actor_height=height, - actor_length=length, - actor_width=width, + vertices=vertices, + faces=faces, + scale=scale ) - actor._moi = geometric_model._find_moi - - @staticmethod - def set_geometric_model_from_import( - actor: SpacecraftActor, - mass: float, - file_name: str, - ): - """Define geometry of the spacecraft actor. + actor._mesh = geometric_model.set_mesh() + actor._moment_of_inertia = geometric_model.find_moment_of_inertia - Args: - actor (SpacecraftActor): Actor to update. - mass (float): Mass of the spacecraft in kg - file_name (string): Name of the .obj file to use as geometric mesh - """ - assert mass >= 0, "Mass is <= 0" - actor._mass = mass - geometric_model = ImportGeometricModel( - local_actor=actor, - actor_mass=mass, - model_name=file_name - ) - actor._moi = geometric_model._find_moi - actor._center_of_gravity = geometric_model.find_cg() - actor._mesh = geometric_model._mesh @staticmethod def set_power_devices( diff --git a/paseos/attitude/geometric_model.py b/paseos/attitude/geometric_model.py index 2fbd916..5726b36 100644 --- a/paseos/attitude/geometric_model.py +++ b/paseos/attitude/geometric_model.py @@ -1,123 +1,92 @@ from loguru import logger -import numpy as np import trimesh -class CuboidGeometricModel: +class GeometricModel: """This model describes the geometry of the spacecraft Currently it assumes the spacecraft to be a cuboid shape, with width, length and height """ _actor = None - _actor_mass = None - _actor_height = None - _actor_length = None - _actor_width = None + _actor_mesh = None + _actor_center_of_gravity = None + _actor_moment_of_inertia = None def __init__( - self, local_actor, actor_mass, actor_height, actor_length, actor_width + self, local_actor, actor_mass, vertices=None, faces=None, scale=1 ) -> None: """Describes the geometry of the spacecraft, and outputs relevant parameters related to the spacecraft body. - Width is the size on the x-direction, Length in the y-direction, and height in the z-direction. + If no vertices or faces are provided, defaults to a cube with unit length sides Args: actor (SpacecraftActor): Actor to model. actor_mass (float): Actor's mass in kg. - actor_height: Actor's size in the z-direction. - actor_length: Actor's size in the y-direction. - actor_width: Actor's size in the x-direction. + vertices (list): List of all vertices of the mesh + faces (list): List of the indexes of the vertices of a face + scale (float): Parameter to scale the cuboid by, defaults to 1 """ logger.trace("Initializing cuboid geometrical model.") self._actor = local_actor self._actor_mass = actor_mass - self._actor_height = actor_height - self._actor_length = actor_length - self._actor_width = actor_width + self.vertices = vertices + self.faces = faces + self.scale = scale - @property - def _find_moi(self): - """Actor moment of inertia, currently only suitable for a rectangular prism - - Returns: - np.array: Mass moments of inertia for the actor - - I in the form of [[Ixx Ixy Ixz] - [Iyx Iyy Iyx] - [Izx Izy Izz]] - """ - Ixx = ( - self._actor_mass * (self._actor_height**2 + self._actor_length**2) / 12 - ) - Iyy = self._actor_mass * (self._actor_height**2 + self._actor_width**2) / 12 - Izz = self._actor_mass * (self._actor_width**2 + self._actor_length**2) / 12 - # assume uniform mass distribution, hence Ixy, etc. are all zero - self._actor_I = np.array([[Ixx, 0, 0], [0, Iyy, 0], [0, 0, Izz]]) - return self._actor_I - - def _find_cg(self): - """Gives the volumetric center of mass of the actor. + def set_mesh(self): + """Creates the mesh of the satellite, defaults to a cuboid scales by the scale value Returns: - np.array: Coordinates of the center of gravity of the mesh - """ - return np.array([0, 0, 0]) - - # potentially add later for disturbances - # def _find_cp(self): - # def _find_dipole(self): - - -class ImportGeometricModel: - """This model describes the geometry of the spacecraft - It uses the package Trimesh to be able to import an .obj file and use this as the satellite's shape. - The coordinate system of the mesh is adopted for the satellite - """ - - _actor = None - _actor_mass = None - _actor_cg = None - _actor_I = None - - def __init__(self, local_actor, actor_mass, model_name) -> None: - """Describes the geometry of the spacecraft, and outputs relevant parameters related to the spacecraft body. - - - Args: - actor (SpacecraftActor): Actor to model. - actor_mass (float): Actor's mass in kg. - model_name (string): Name of the .obj file to use as satellite geometry + mesh: Trimesh mesh of the satellite """ - logger.trace("Initializing import geometrical model.") - - self._actor = local_actor - self._actor_mass = actor_mass - file_path = "objects/" + model_name + ".obj" - self._mesh = trimesh.load_mesh(file_path) + if self.vertices is None: + self.vertices = [ + [-0.5, -0.5, -0.5], + [-0.5, -0.5, 0.5], + [-0.5, 0.5, -0.5], + [-0.5, 0.5, 0.5], + [0.5, -0.5, -0.5], + [0.5, -0.5, 0.5], + [0.5, 0.5, -0.5], + [0.5, 0.5, 0.5], + ] + self.faces = [ + [0, 1, 3], + [0, 3, 2], + [0, 2, 6], + [0, 6, 4], + [1, 5, 3], + [3, 5, 7], + [2, 3, 7], + [2, 7, 6], + [4, 6, 7], + [4, 7, 5], + [0, 4, 1], + [1, 4, 5], + ] + mesh = trimesh.Trimesh(self.vertices, self.faces) + self._actor_mesh = mesh.apply_scale(self.scale) + return self._actor_mesh @property - def _find_moi(self): + def find_moment_of_inertia(self): """Gives the moment of inertia of the actor, assuming constant density Returns: np.array: Mass moments of inertia for the actor - I in the form of [[Ixx Ixy Ixz] - [Iyx Iyy Iyx] - [Izx Izy Izz]] + I is the moment of inertia, in the form of [[Ixx Ixy Ixz] + [Iyx Iyy Iyx] + [Izx Izy Izz]] """ - self._actor_I = self._mesh.moment_inertia - return self._actor_I + self._actor_moment_of_inertia = self._actor_mesh.moment_inertia + return self._actor_moment_of_inertia - def find_cg(self): + def find_center_of_gravity(self): """Gives the volumetric center of mass of the actor. Returns: np.array: Coordinates of the center of gravity of the mesh """ - self._actor_cg = self._mesh.center_mass - return self._actor_cg - - # potentially add later for disturbances - # def _find_cp(self): - # def _find_dipole(self): + self._actor_center_of_gravity = self._actor_mesh.center_mass + return self._actor_center_of_gravity diff --git a/paseos/tests/actor_builder_test.py b/paseos/tests/actor_builder_test.py index 4136f30..93bc306 100644 --- a/paseos/tests/actor_builder_test.py +++ b/paseos/tests/actor_builder_test.py @@ -2,8 +2,6 @@ import numpy as np import pykep as pk import sys -import plotly.graph_objects as go -from loguru import logger sys.path.append("../..") @@ -102,34 +100,11 @@ def test_add_comm_device(): def test_set_geometric_model(): """Check if we can set the geometry, and if the moments of inertia are calculated correctly""" _, sat1, _ = get_default_instance() - ActorBuilder.set_cuboid_geometric_model(sat1, mass=100, height=0.5, length=0.5, width=0.5) + ActorBuilder.set_geometric_model(sat1, mass=100) assert sat1.mass == 100 - assert round(sat1._moi[0,0],3) == 4.167 # Value for a h,w,l of each 0.5 - assert sat1._moi[0,1] == 0.0 # Should be zero if the mass distribution is even + assert all(sat1._mesh.center_mass == np.array([0,0,0])) # check the default mesh is centered + assert sat1._mesh.volume == 1 # check the default volume is correct + assert round(sat1._moment_of_inertia[0,0], 4) == 0.1667 # for the default mesh + assert sat1._moment_of_inertia[0,1] == 0.0 # Should be zero if the mass distribution is even -def test_view_geometric_model(): - """Provide a visualisation of the imported geometric model, and test if the cg is in the correct location - """ - _, sat1, _ = get_default_instance() - ActorBuilder.set_geometric_model_from_import(sat1,mass=100,file_name='20265_Hexagonal_prism_v1') # test only runs - # if '../../' is added to start of the file name in geometric_model.pu - assert np.all(np.round(sat1._center_of_gravity, decimals=0) == np.array([0, 0, 6])) - # Create trace for the mesh and axis - mesh = sat1._mesh - mesh_trace = go.Mesh3d(x=mesh.vertices[:, 0], y=mesh.vertices[:, 1], z=mesh.vertices[:, 2], - i=mesh.faces[:, 0], j=mesh.faces[:, 1], k=mesh.faces[:, 2], - color='lightblue', opacity=0.5) - axis_length = 5 # Length of the axes - axis_end = [[0, 0, 0], [axis_length, 0, 0]], [[0, 0, 0], [0, axis_length, 0]], [[0, 0, 0], [0, 0, axis_length]] - axis_traces = [go.Scatter3d(x=[end[0][0], end[1][0]], y=[end[0][1], end[1][1]], z=[end[0][2], end[1][2]], - marker=dict(color=col), line=dict(color=col, width=4), name=lab) - for end, col, lab in zip(axis_end, ['red', 'green', 'blue'], ['X-axis', 'Y-axis', 'Z-axis'])] - point_coordinates = sat1._center_of_gravity - - # Create a trace for the single point - point_trace = go.Scatter3d(x=[point_coordinates[0]], y=[point_coordinates[1]], z=[point_coordinates[2]], - mode='markers', marker=dict(size=10, color='orange'), name='Center of Gravity') - fig = go.Figure(data=[mesh_trace] + axis_traces + [point_trace]) - fig.update_layout(scene=dict(aspectmode='data')) - fig.show() diff --git a/requirements.txt b/requirements.txt index 6ec5b86..9311acd 100644 --- a/requirements.txt +++ b/requirements.txt @@ -7,4 +7,5 @@ pyquaternion>=0.9.9 scikit-spatial>=6.5.0 skyfield>=1.45 toml>=0.10.2 -tqdm>=4.64.1 \ No newline at end of file +tqdm>=4.64.1 +trimesh>=4.0.7 \ No newline at end of file diff --git a/setup.py b/setup.py index 467eab7..b6602ed 100644 --- a/setup.py +++ b/setup.py @@ -22,6 +22,7 @@ "skyfield>=1.45", "toml>=0.10.2", "tqdm>=4.64.1", + "trimesh>=4.0.7", ], classifiers=[ "Development Status :: 3 - Alpha", From 851caaf69e060b8d235d88e231f1fa1f8b001646 Mon Sep 17 00:00:00 2001 From: Moanalengkeek <69005558+Moanalengkeek@users.noreply.github.com> Date: Wed, 10 Jan 2024 12:56:45 +0100 Subject: [PATCH 13/15] Updates comments describing the inputs to the geometric model. --- paseos/actors/actor_builder.py | 12 +++++++++--- paseos/attitude/geometric_model.py | 12 +++++++++--- 2 files changed, 18 insertions(+), 6 deletions(-) diff --git a/paseos/actors/actor_builder.py b/paseos/actors/actor_builder.py index eaac30e..1301c18 100644 --- a/paseos/actors/actor_builder.py +++ b/paseos/actors/actor_builder.py @@ -315,13 +315,19 @@ def set_geometric_model( scale: float=1 ): - """Define geometry of the spacecraft actor. + """Define geometry of the spacecraft actor. This is done in the spacecraft body reference frame, and can be + transformed to the inertial/PASEOS reference frame using the reference frane transformations in the attitude + model. When used in the attitude model, the geometric model is in the body reference frame. Args: actor (SpacecraftActor): Actor to update. mass (float): Mass of the spacecraft in kg - vertices (list): List of all vertices of the mesh - faces (list): List of the indexes of the vertices of a face + vertices (list): List of all vertices of the mesh in terms of distance (in m) from origin of body frame. + Coordinates of the corners of the object. If not selected, it will default to a cube that can be scaled + by the scale. Uses Trimesh to create the mesh from this and the list of faces. + faces (list): List of the indexes of the vertices of a face. This builds the faces of the satellite by + defining the three vertices to form a triangular face. For a cuboid each face is split into two + triangles. Uses Trimesh to create the mesh from this and the list of vertices. scale (float): Parameter to scale the cuboid by, defaults to 1 """ assert mass > 0, "Mass is > 0" diff --git a/paseos/attitude/geometric_model.py b/paseos/attitude/geometric_model.py index d20aee0..23ef038 100644 --- a/paseos/attitude/geometric_model.py +++ b/paseos/attitude/geometric_model.py @@ -16,13 +16,19 @@ def __init__( self, local_actor, actor_mass, vertices=None, faces=None, scale=1 ) -> None: """Describes the geometry of the spacecraft, and outputs relevant parameters related to the spacecraft body. - If no vertices or faces are provided, defaults to a cube with unit length sides + If no vertices or faces are provided, defaults to a cube with unit length sides. This is in the spacecraft body + reference frame, and can be transformed to the inertial/PASEOS reference frame using the transformations in the + attitude model Args: local_actor (SpacecraftActor): Actor to model. actor_mass (float): Actor's mass in kg. - vertices (list): List of all vertices of the mesh - faces (list): List of the indexes of the vertices of a face + vertices (list): List of all vertices of the mesh in terms of distance (in m) from origin of body frame. + Coordinates of the corners of the object. If not selected, it will default to a cube that can be scaled + by the scale. Uses Trimesh to create the mesh from this and the list of faces. + faces (list): List of the indexes of the vertices of a face. This builds the faces of the satellite by + defining the three vertices to form a triangular face. For a cuboid each face is split into two + triangles. Uses Trimesh to create the mesh from this and the list of vertices. scale (float): Parameter to scale the cuboid by, defaults to 1 """ logger.trace("Initializing cuboid geometrical model.") From d32ad15f36dacb2d89591a08797d989317f7523a Mon Sep 17 00:00:00 2001 From: Moanalengkeek <69005558+Moanalengkeek@users.noreply.github.com> Date: Fri, 12 Jan 2024 11:06:56 +0100 Subject: [PATCH 14/15] Add geometric model to a seperate folder --- paseos/actors/actor_builder.py | 2 +- paseos/{attitude => geometric_model}/geometric_model.py | 0 2 files changed, 1 insertion(+), 1 deletion(-) rename paseos/{attitude => geometric_model}/geometric_model.py (100%) diff --git a/paseos/actors/actor_builder.py b/paseos/actors/actor_builder.py index 1301c18..b8321c6 100644 --- a/paseos/actors/actor_builder.py +++ b/paseos/actors/actor_builder.py @@ -13,7 +13,7 @@ from ..thermal.thermal_model import ThermalModel from ..power.power_device_type import PowerDeviceType from ..radiation.radiation_model import RadiationModel -from ..attitude.geometric_model import GeometricModel +from paseos.geometric_model.geometric_model import GeometricModel class ActorBuilder: diff --git a/paseos/attitude/geometric_model.py b/paseos/geometric_model/geometric_model.py similarity index 100% rename from paseos/attitude/geometric_model.py rename to paseos/geometric_model/geometric_model.py From 15606d79451801f7fc14ad82446d392a15491276 Mon Sep 17 00:00:00 2001 From: Moanalengkeek <69005558+Moanalengkeek@users.noreply.github.com> Date: Fri, 12 Jan 2024 11:26:52 +0100 Subject: [PATCH 15/15] Added additional comments to describe the default cubeoid values --- paseos/geometric_model/geometric_model.py | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/paseos/geometric_model/geometric_model.py b/paseos/geometric_model/geometric_model.py index 23ef038..0d8a185 100644 --- a/paseos/geometric_model/geometric_model.py +++ b/paseos/geometric_model/geometric_model.py @@ -40,7 +40,8 @@ def __init__( self.scale = scale def set_mesh(self): - """Creates the mesh of the satellite, defaults to a cuboid scales by the scale value + """Creates the mesh of the satellite. If no vertices input is given, it defaults to a cuboid scaled by the + scale value. The default without scale values is a cube with 1m sides. This uses the python module Trimesh. Returns: mesh: Trimesh mesh of the satellite @@ -55,7 +56,7 @@ def set_mesh(self): [0.5, -0.5, 0.5], [0.5, 0.5, -0.5], [0.5, 0.5, 0.5], - ] + ] # defines the corners of the mesh, values are in meters, from the origin of the body frame. self.faces = [ [0, 1, 3], [0, 3, 2], @@ -69,9 +70,10 @@ def set_mesh(self): [4, 7, 5], [0, 4, 1], [1, 4, 5], - ] + ] # List of three vertices to form a triangular face of the satellite. Two triangular faces are used + # per side of the cuboid mesh = trimesh.Trimesh(self.vertices, self.faces) - self._actor_mesh = mesh.apply_scale(self.scale) + self._actor_mesh = mesh.apply_scale(self.scale) # Scales the mesh by the scale factor return self._actor_mesh @property