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tudoroanceatudoroancea
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forgot all the template notebooks
1 parent 0674a99 commit 3e5904c

7 files changed

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‎project/.gitignore‎

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!*ipynb

‎project/Deliverable_3_1/Deliverable_3_1.ipynb‎

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{
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"cells": [
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "d777ed6c",
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"metadata": {},
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"outputs": [],
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"source": [
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"%load_ext autoreload\n",
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"%autoreload 2\n",
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"\n",
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"# Get parent directory and add to sys.path\n",
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"import os\n",
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"import sys\n",
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"\n",
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"parent_dir = os.path.dirname(os.getcwd())\n",
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"sys.path.append(parent_dir)\n",
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"\n",
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"# Require ipympl\n",
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"%matplotlib widget "
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "c9fb75e7",
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"metadata": {},
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"outputs": [],
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"source": [
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"# MPC import\n",
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"import numpy as np\n",
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"from LinearMPC.MPCVelControl import MPCVelControl\n",
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"from src.rocket import Rocket\n",
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"from src.vel_rocket_vis import RocketVis\n",
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"\n",
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"rocket_obj_path = os.path.join(parent_dir, \"Cartoon_rocket.obj\")\n",
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"rocket_params_path = os.path.join(parent_dir, \"rocket.yaml\")"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "494f56e2",
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"metadata": {},
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"outputs": [],
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"source": [
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"Ts = 0.05\n",
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"sim_time = ...\n",
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"H = ...\n",
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"x0 = ... # initial state\n",
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"\n",
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"rocket = Rocket(Ts=Ts, model_params_filepath=rocket_params_path)\n",
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"mpc = MPCVelControl().new_controller(rocket, Ts, H)\n",
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"\n",
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"t_cl, x_cl, u_cl, t_ol, x_ol, u_ol, _ = rocket.simulate_control(\n",
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" mpc, sim_time, H, x0, method=\"linear\"\n",
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")\n",
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"\n",
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"vis = RocketVis(rocket, rocket_obj_path)\n",
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"vis.anim_rate = 1.0\n",
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"vis.animate(t_cl[:-1], x_cl[:, :-1], u_cl, T_ol=t_ol[..., :-1], X_ol=x_ol, U_ol=u_ol);"
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]
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}
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],
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"metadata": {
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"kernelspec": {
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"display_name": "Python 3",
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"language": "python",
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"name": "python3"
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},
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"language_info": {
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"codemirror_mode": {
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"name": "ipython",
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"version": 3
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},
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"file_extension": ".py",
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"mimetype": "text/x-python",
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"name": "python",
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"nbconvert_exporter": "python",
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"pygments_lexer": "ipython3",
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"version": "3.12.12"
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}
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},
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"nbformat": 4,
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"nbformat_minor": 5
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}

‎project/Deliverable_3_2/Deliverable_3_2.ipynb‎

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{
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"cells": [
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "d777ed6c",
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"metadata": {},
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"outputs": [],
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"source": [
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"%load_ext autoreload\n",
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"%autoreload 2\n",
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"\n",
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"# Get parent directory and add to sys.path\n",
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"import os\n",
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"import sys\n",
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"\n",
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"parent_dir = os.path.dirname(os.getcwd())\n",
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"sys.path.append(parent_dir)\n",
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"\n",
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"# Require ipympl\n",
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"%matplotlib widget "
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "c9fb75e7",
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"metadata": {},
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"outputs": [],
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"source": [
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"# MPC import\n",
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"import numpy as np\n",
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"from LinearMPC.MPCVelControl import MPCVelControl\n",
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"from src.rocket import Rocket\n",
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"from src.vel_rocket_vis import RocketVis\n",
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"\n",
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"rocket_obj_path = os.path.join(parent_dir, \"Cartoon_rocket.obj\")\n",
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"rocket_params_path = os.path.join(parent_dir, \"rocket.yaml\")"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "494f56e2",
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"metadata": {},
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"outputs": [],
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"source": [
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"Ts = 0.05\n",
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"sim_time = 7\n",
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"H = 5.0\n",
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"x0 = ... # initial state\n",
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"x_target = ... # target state\n",
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"\n",
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"rocket = Rocket(Ts=Ts, model_params_filepath=rocket_params_path)\n",
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"mpc = MPCVelControl().new_controller(rocket, Ts, H)\n",
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"\n",
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"t_cl, x_cl, u_cl, t_ol, x_ol, u_ol, _ = rocket.simulate_control(\n",
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" mpc, sim_time, H, x0, x_target=x_target, method=\"linear\"\n",
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")\n",
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"\n",
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"vis = RocketVis(rocket, rocket_obj_path)\n",
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"vis.anim_rate = 1.0\n",
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"vis.animate(\n",
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" t_cl[:-1],\n",
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" x_cl[:, :-1],\n",
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" u_cl,\n",
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" Ref=x_target.reshape(-1, 1).repeat(u_cl.shape[1], axis=1),\n",
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" T_ol=t_ol[..., :-1],\n",
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" X_ol=x_ol,\n",
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" U_ol=u_ol,\n",
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");"
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]
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}
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],
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"metadata": {
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"kernelspec": {
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"display_name": "mpc2025",
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"language": "python",
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"name": "python3"
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},
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"language_info": {
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"codemirror_mode": {
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"name": "ipython",
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"version": 3
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},
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"file_extension": ".py",
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"mimetype": "text/x-python",
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"name": "python",
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"nbconvert_exporter": "python",
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"pygments_lexer": "ipython3",
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"version": "3.12.11"
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}
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},
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"nbformat": 4,
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"nbformat_minor": 5
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}

‎project/Deliverable_3_3/Deliverable_3_3.ipynb‎

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{
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"cells": [
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "d777ed6c",
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"metadata": {},
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"outputs": [],
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"source": [
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"%load_ext autoreload\n",
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"%autoreload 2\n",
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"\n",
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"# Get parent directory and add to sys.path\n",
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"import os\n",
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"import sys\n",
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"\n",
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"parent_dir = os.path.dirname(os.getcwd())\n",
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"sys.path.append(parent_dir)\n",
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"\n",
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"# Require ipympl\n",
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"%matplotlib widget "
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "c9fb75e7",
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"metadata": {},
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"outputs": [],
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"source": [
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"# MPC import\n",
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"from LinearMPC.MPCVelControl import MPCVelControl\n",
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"from PIControl.PIControl import PIControl\n",
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"import numpy as np\n",
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"from src.rocket import Rocket\n",
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"from src.vel_rocket_vis import RocketVis\n",
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"\n",
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"rocket_obj_path = os.path.join(parent_dir, \"Cartoon_rocket.obj\")\n",
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"rocket_params_path = os.path.join(parent_dir, \"rocket.yaml\")"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "494f56e2",
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"metadata": {},
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"outputs": [],
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"source": [
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"Ts = 0.05\n",
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"sim_time = 20\n",
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"H = 5.0\n",
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"x0 = np.array([0, 0, 0, 0, 0, 0, 0, 0, 0, 50, 50, 100]) # initial state\n",
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"pos_target = np.array([0, 0, 10.0])\n",
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"\n",
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"rocket = Rocket(Ts=Ts, model_params_filepath=rocket_params_path)\n",
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"pos_controller = PIControl(pos_target)\n",
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"mpc = MPCVelControl().new_controller(rocket, Ts, H)\n",
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"\n",
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"t_cl, x_cl, u_cl, t_ol, x_ol, u_ol, ref = rocket.simulate_control(\n",
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" mpc, sim_time, H, x0, pos_control=pos_controller, method=\"linear\"\n",
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")\n",
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"\n",
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"vis = RocketVis(rocket, rocket_obj_path)\n",
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"vis.anim_rate = 1.0\n",
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"vis.animate(\n",
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" t_cl[:-1],\n",
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" x_cl[:, :-1],\n",
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" u_cl,\n",
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" Ref=ref[:, :-1],\n",
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" T_ol=t_ol[..., :-1],\n",
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" X_ol=x_ol,\n",
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" U_ol=u_ol,\n",
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");"
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]
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}
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],
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"metadata": {
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"kernelspec": {
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"display_name": "mpc2025",
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"language": "python",
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"name": "python3"
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},
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"language_info": {
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"codemirror_mode": {
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"name": "ipython",
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"version": 3
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},
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"file_extension": ".py",
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"mimetype": "text/x-python",
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"name": "python",
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"nbconvert_exporter": "python",
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"pygments_lexer": "ipython3",
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"version": "3.12.11"
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}
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},
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"nbformat": 4,
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"nbformat_minor": 5
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}

‎project/Deliverable_4_1/Deliverable_4_1.ipynb‎

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{
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"cells": [
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "d777ed6c",
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"metadata": {},
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"outputs": [],
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"source": [
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"%load_ext autoreload\n",
11+
"%autoreload 2\n",
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"\n",
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"# Get parent directory and add to sys.path\n",
14+
"import os\n",
15+
"import sys\n",
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"\n",
17+
"parent_dir = os.path.dirname(os.getcwd())\n",
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"sys.path.append(parent_dir)\n",
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"\n",
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"# Require ipympl\n",
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"%matplotlib widget "
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "c9fb75e7",
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"metadata": {},
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"outputs": [],
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"source": [
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"# MPC import\n",
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"from LinearMPC.MPCVelControl import MPCVelControl\n",
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"from PIControl.PIControl import PIControl\n",
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"import numpy as np\n",
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"from src.rocket import Rocket\n",
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"from src.vel_rocket_vis import RocketVis\n",
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"\n",
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"rocket_obj_path = os.path.join(parent_dir, \"Cartoon_rocket.obj\")\n",
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"rocket_params_path = os.path.join(parent_dir, \"rocket.yaml\")"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "494f56e2",
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"metadata": {},
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"outputs": [],
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"source": [
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"Ts = 0.05\n",
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"sim_time = 20\n",
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"H = 5.0\n",
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"x0 = np.array([0, 0, 0, 0, 0, 0, 0, 0, 0, 50, 50, 100]) # initial state\n",
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"pos_target = np.array([0, 0, 10.0])\n",
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"\n",
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"rocket = Rocket(Ts=Ts, model_params_filepath=rocket_params_path)\n",
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"pos_controller = PIControl(pos_target)\n",
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"mpc = MPCVelControl().new_controller(rocket, Ts, H)\n",
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"\n",
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"t_cl, x_cl, u_cl, t_ol, x_ol, u_ol, ref = rocket.simulate_control(\n",
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" mpc, sim_time, H, x0, pos_control=pos_controller, method=\"nonlinear\"\n",
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")\n",
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"\n",
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"vis = RocketVis(rocket, rocket_obj_path)\n",
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"vis.anim_rate = 1.0\n",
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"vis.animate(\n",
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" t_cl[:-1],\n",
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" x_cl[:, :-1],\n",
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" u_cl,\n",
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" Ref=ref[:, :-1],\n",
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" T_ol=t_ol[..., :-1],\n",
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" X_ol=x_ol,\n",
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" U_ol=u_ol,\n",
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");"
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]
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}
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],
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"metadata": {
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"kernelspec": {
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"display_name": "mpc2025",
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"language": "python",
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"name": "python3"
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},
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"language_info": {
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"codemirror_mode": {
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"name": "ipython",
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"version": 3
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},
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"file_extension": ".py",
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"mimetype": "text/x-python",
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"name": "python",
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"nbconvert_exporter": "python",
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"pygments_lexer": "ipython3",
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"version": "3.12.11"
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}
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},
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"nbformat": 4,
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"nbformat_minor": 5
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}

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