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BuildTrajectoryLibrary.m
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BuildTrajectoryLibrary.m
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megaclear
%% trim conditions
[parameters, gains, gains_ti] = GetDefaultGains();
deltawing_plant = DeltawingPlant(parameters);
p = DeltawingPlantStateEstFrame(deltawing_plant);
lib = TrajectoryLibrary(p);
lib.ti_rollout_time = 3;
[x0, u0, lib] = FindTrimDrake(p, lib, gains_ti);
%% more trim conditions
% climb
max_climb = 1.0; % m/s
[~, ~, lib] = FindClimbTrimDrake(p, max_climb, lib, gains_ti);
%% takeoff no throttle
lib = AddTakeoffNoThrottleTraj(lib, lib.GetTrajectoryByNumber(0));
%% TI turns
[~, ~, lib] = FindLeftTrimDrake(p, deg2rad(-20), 0, 12, lib, 'TI-left-turn1', gains_ti);
% agressive right turn
[~, ~, lib] = FindLeftTrimDrake(p, deg2rad(20), 0, 12, lib, 'TI-right-turn1', gains_ti);
%% aggressive TI turns
% aggressive left turn
%
[~, ~, lib] = FindLeftTrimDrake(p, deg2rad(-55), 0, 12, lib, 'TI-aggressive-left-turn2', gains_ti);
% agressive right turn
[~, ~, lib] = FindLeftTrimDrake(p, deg2rad(55), 0, 12, lib, 'TI-aggressive-right-turn2', gains_ti);
%% left turn 45 deg
bounds = [
100 % x
100 % y
50 % z
deg2rad(10) % roll
deg2rad(20) % pitch
deg2rad(10) % yaw
1 % x-dot
30 % y-dot
5 % z-dot
deg2rad(70) % roll-dot
deg2rad(70) % pitch-dot
deg2rad(70) % yaw-dot
];
tf_turn = 2;
xf_turn = x0;
xf_turn(1) = x0(7)*.5*tf_turn;
xf_turn(2) = x0(7)*.5*tf_turn;
xf_turn(6) = deg2rad(45);
% compute final velocities
% input: velocity, body-x, final rpy
% output: velocity global x, y, and z
rpy_model = ConvertToModelFrameFromDrakeWorldFrame([zeros(3,1); xf_turn(4:6); zeros(6,1)]);
model_xf = [zeros(3,1); rpy_model(4:6); x0(7); 0; 0; zeros(3,1)];
xf_drake = ConvertToDrakeFrameFromModelFrame(model_xf);
xf_turn(7:9) = xf_drake(7:9);
cons = struct();
cons.c = [];
cons.N_fac = [];
cons.final_cost_on_time_gain = 4;
cons.final_cost_on_state_gain = 0;
checkDependency('lcmgl');
lcmgl_f = drake.util.BotLCMGLClient(lcm.lcm.LCM.getSingleton(),'deltawing-dircol-final-condition');
lcmgl_f.glColor4f(1,0,0,.5);
lcmgl_f.box(xf_turn(1:3), 2*bounds(1:3));
lcmgl_f.switchBuffers();
% draw the attempted trajectory
xtraj_draw = [x0 xf_turn];
[utraj_turn1, xtraj_turn1] = runDircol(parameters, x0, xf_turn, tf_turn, bounds, u0, cons, 15);
[utraj_turn2, xtraj_turn2] = runDircol(parameters, x0, xf_turn, xtraj_turn1.tspan(2), bounds, u0, cons, 31, utraj_turn1, xtraj_turn1);
% stabilize the trajectory with TVLQR
lib = AddLqrControllersToLib('left-turn-45', lib, xtraj_turn2, utraj_turn2, gains);
%% right turn 45 deg
bounds = [
100 % x
100 % y
50 % z
deg2rad(10) % roll
deg2rad(20) % pitch
deg2rad(10) % yaw
1 % x-dot
30 % y-dot
5 % z-dot
deg2rad(70) % roll-dot
deg2rad(70) % pitch-dot
deg2rad(70) % yaw-dot
];
tf_turn = 2;
xf_turn = x0;
xf_turn(1) = x0(7)*.5*tf_turn;
xf_turn(2) = -x0(7)*.5*tf_turn;
xf_turn(6) = deg2rad(-45);
% compute final velocities
% input: velocity, body-x, final rpy
% output: velocity global x, y, and z
rpy_model = ConvertToModelFrameFromDrakeWorldFrame([zeros(3,1); xf_turn(4:6); zeros(6,1)]);
model_xf = [zeros(3,1); rpy_model(4:6); x0(7); 0; 0; zeros(3,1)];
xf_drake = ConvertToDrakeFrameFromModelFrame(model_xf);
xf_turn(7:9) = xf_drake(7:9);
cons = struct();
cons.c = [];
cons.N_fac = [];
cons.final_cost_on_time_gain = 4;
cons.final_cost_on_state_gain = 0;
checkDependency('lcmgl');
lcmgl_f = drake.util.BotLCMGLClient(lcm.lcm.LCM.getSingleton(),'deltawing-dircol-final-condition');
lcmgl_f.glColor4f(1,0,0,.5);
lcmgl_f.box(xf_turn(1:3), 2*bounds(1:3));
lcmgl_f.switchBuffers();
% draw the attempted trajectory
xtraj_draw = [x0 xf_turn];
[utraj_turn1, xtraj_turn1] = runDircol(parameters, x0, xf_turn, tf_turn, bounds, u0, cons, 15);
[utraj_turn2, xtraj_turn2] = runDircol(parameters, x0, xf_turn, xtraj_turn1.tspan(2), bounds, u0, cons, 31, utraj_turn1, xtraj_turn1);
% stabilize the trajectory with TVLQR
lib = AddLqrControllersToLib('right-turn-45', lib, xtraj_turn2, utraj_turn2, gains);
%% super aggressive left turn
bounds = [
100 % x
100 % y
50 % z
deg2rad(10) % roll
deg2rad(20) % pitch
deg2rad(10) % yaw
30 % x-dot
30 % y-dot
5 % z-dotcons = [];
deg2rad(70) % roll-dot
deg2rad(70) % pitch-dot
deg2rad(70) % yaw-dot
];
tf_turn = 3;
xf_turn = x0;
xf_turn(1) = x0(7)*.5*tf_turn;
xf_turn(2) = -x0(7)*.5*tf_turn;
xf_turn(6) = deg2rad(90);
% compute final velocities
% input: velocity, body-x, final rpy
% output: velocity global x, y, and z
rpy_model = ConvertToModelFrameFromDrakeWorldFrame([zeros(3,1); xf_turn(4:6); zeros(6,1)]);
model_xf = [zeros(3,1); rpy_model(4:6); x0(7); 0; 0; zeros(3,1)];
xf_drake = ConvertToDrakeFrameFromModelFrame(model_xf);
xf_turn(7:9) = xf_drake(7:9);
%cons = [];
cons.final_cost_on_state_gain = 0;
checkDependency('lcmgl');
lcmgl_f = drake.util.BotLCMGLClient(lcm.lcm.LCM.getSingleton(),'deltawing-dircol-final-condition');
lcmgl_f.glColor4f(1,0,0,.5);
lcmgl_f.box(xf_turn(1:3), 2*bounds(1:3));
lcmgl_f.switchBuffers();
% draw the attempted trajectory
xtraj_draw = [x0 xf_turn];
[utraj_turn1, xtraj_turn1] = runDircol(parameters, x0, xf_turn, tf_turn, bounds, u0, cons, 15);
[utraj_turn2, xtraj_turn2] = runDircol(parameters, x0, xf_turn, xtraj_turn1.tspan(2), bounds, u0, cons, 31, utraj_turn1, xtraj_turn1);
% stabilize the trajectory with TVLQR
lib = AddLqrControllersToLib('super-aggressive-left-turn', lib, xtraj_turn2, utraj_turn2, gains);
%% super aggressive right turn
bounds = [
100 % x
100 % y
50 % z
deg2rad(10) % roll
deg2rad(20) % pitch
deg2rad(10) % yaw
30 % x-dot
30 % y-dot
5 % z-dot
deg2rad(70) % roll-dot
deg2rad(70) % pitch-dot
deg2rad(70) % yaw-dot
];
tf_turn = 3;
xf_turn = x0;
xf_turn(1) = x0(7)*.5*tf_turn;
xf_turn(2) = -x0(7)*.5*tf_turn;
xf_turn(6) = deg2rad(-90);
% compute final velocities
% input: velocity, body-x, final rpy
% output: velocity global x, y, and z
rpy_model = ConvertToModelFrameFromDrakeWorldFrame([zeros(3,1); xf_turn(4:6); zeros(6,1)]);
model_xf = [zeros(3,1); rpy_model(4:6); x0(7); 0; 0; zeros(3,1)];
xf_drake = ConvertToDrakeFrameFromModelFrame(model_xf);
xf_turn(7:9) = xf_drake(7:9);
%cons = [];
cons.final_cost_on_state_gain = 0;
checkDependency('lcmgl');
lcmgl_f = drake.util.BotLCMGLClient(lcm.lcm.LCM.getSingleton(),'deltawing-dircol-final-condition');
lcmgl_f.glColor4f(1,0,0,.5);
lcmgl_f.box(xf_turn(1:3), 2*bounds(1:3));
lcmgl_f.switchBuffers();
% draw the attempted trajectory
xtraj_draw = [x0 xf_turn];
[utraj_turn1, xtraj_turn1] = runDircol(parameters, x0, xf_turn, tf_turn, bounds, u0, cons, 15);
[utraj_turn2, xtraj_turn2] = runDircol(parameters, x0, xf_turn, xtraj_turn1.tspan(2), bounds, u0, cons, 31, utraj_turn1, xtraj_turn1);
% stabilize the trajectory with TVLQR
lib = AddLqrControllersToLib('super-aggressive-right-turn', lib, xtraj_turn2, utraj_turn2, gains);
%% super aggressive climb
bounds = [
100 % x
100 % y
1 % z
deg2rad(10) % roll
deg2rad(10) % pitch
deg2rad(10) % yaw
30 % x-dot
30 % y-dot
5 % z-dot
deg2rad(70) % roll-dot
deg2rad(70) % pitch-dot
deg2rad(70) % yaw-dot
];
tf_turn = 3;
xf_turn = x0;
xf_turn(1) = x0(7)*tf_turn;
xf_turn(3) = 10;
cons = [];
checkDependency('lcmgl');
lcmgl_f = drake.util.BotLCMGLClient(lcm.lcm.LCM.getSingleton(),'deltawing-dircol-final-condition');
lcmgl_f.glColor4f(1,0,0,.5);
lcmgl_f.box(xf_turn(1:3), 2*bounds(1:3));
lcmgl_f.switchBuffers();
% draw the attempted trajectory
xtraj_draw = [x0 xf_turn];
[utraj_turn1, xtraj_turn1] = runDircol(parameters, x0, xf_turn, tf_turn, bounds, u0, cons, 15);
[utraj_turn2, xtraj_turn2] = runDircol(parameters, x0, xf_turn, xtraj_turn1.tspan(2), bounds, u0, cons, 31, utraj_turn1, xtraj_turn1);
% stabilize the trajectory with TVLQR
lib = AddLqrControllersToLib('super-aggressive-climb', lib, xtraj_turn2, utraj_turn2, gains);
%% super aggressive dive
bounds = [
100 % x
100 % y
2 % z
deg2rad(10) % roll
deg2rad(10) % pitch
deg2rad(10) % yaw
30 % x-dot
30 % y-dot
5 % z-dot
deg2rad(70) % roll-dot
deg2rad(70) % pitch-dot
deg2rad(70) % yaw-dot
];
tf_turn = 4;
xf_turn = x0;
xf_turn(1) = x0(7)*tf_turn;
xf_turn(3) = -10;
xf_turn(7) = x0(7) - 5;
utraj_init = ConstantTrajectory([0; 0; 0]);
cons = [];
checkDependency('lcmgl');
lcmgl_f = drake.util.BotLCMGLClient(lcm.lcm.LCM.getSingleton(),'deltawing-dircol-final-condition');
lcmgl_f.glColor4f(1,0,0,.5);
lcmgl_f.box(xf_turn(1:3), 2*bounds(1:3));
lcmgl_f.switchBuffers();
% draw the attempted trajectory
xtraj_draw = [x0 xf_turn];
[utraj_turn1, xtraj_turn1] = runDircol(parameters, x0, xf_turn, tf_turn, bounds, u0, cons, 15, utraj_init);
[utraj_turn2, xtraj_turn2] = runDircol(parameters, x0, xf_turn, xtraj_turn1.tspan(2), bounds, u0, cons, 31, utraj_turn1, xtraj_turn1);
% stabilize the trajectory with TVLQR
lib = AddLqrControllersToLib('super-aggressive-dive', lib, xtraj_turn2, utraj_turn2, gains);
%% knife-edge
bounds = [
10 % x
15.0 % y
5.0 % z
deg2rad(5) % roll
deg2rad(10) % pitch
deg2rad(28) % yaw
3 % x-dot
5 % y-dot
5 % z-dot
deg2rad(70) % roll-dot
deg2rad(70) % pitch-dot
deg2rad(70) % yaw-dot
];
tf_knife_edge = 1.5;
xf_knife_edge = x0;
xf_knife_edge(1) = x0(7)*tf_knife_edge;
% constrain the plane to be knife-edged
bounds_roll_lower= -Inf*ones(12,1);
bounds_roll_upper = Inf*ones(12,1);
bounds_roll_lower(4) = pi/2 - .1;
bounds_roll_upper(4) = pi/2 + .1;
c_knife = BoundingBoxConstraint(bounds_roll_lower, bounds_roll_upper);
cons = struct();
cons.c = c_knife;
cons.N_fac = 0.5;
cons.final_cost_on_time_gain = 1;
[utraj_knife1, xtraj_knife1] = runDircol(parameters, x0, xf_knife_edge, tf_knife_edge, bounds, u0, cons, 11);
[utraj_knife2, xtraj_knife2] = runDircol(parameters, x0, xf_knife_edge, xtraj_knife1.tspan(2), bounds, u0, cons, 31, utraj_knife1, xtraj_knife1);
% stabilize the trajectory with TVLQR
lib = AddLqrControllersToLib('knife-edge', lib, xtraj_knife1, utraj_knife1, gains);
%lib = AddLqrControllersToLib('knife-edge', lib, xtraj_knife2, utraj_knife2, gains);
return;
%% alieron roll
bounds = [
100 % x
20 % y
20 % z
deg2rad(5) % roll
deg2rad(20) % pitch
0.5 % yaw
3 % x-dot
5 % y-dot
100 % z-dot
deg2rad(70) % roll-dot
deg2rad(70) % pitch-dot
deg2rad(70) % yaw-dot
];
tf_roll = 3;
xf_roll = x0;
xf_roll(1) = x0(7)*tf_roll;
xf_roll(4) = deg2rad(330);
[utraj_roll1, xtraj_roll1] = runDircol(parameters, x0, xf_roll, tf_roll, bounds, u0, [], 11);
[utraj_roll2, xtraj_roll2] = runDircol(parameters, x0, xf_roll, xtraj_roll1.tspan(2), bounds, u0, [], 31, utraj_roll1, xtraj_roll1);
lib = AddLqrControllersToLib('alieron-roll', lib, xtraj_roll2, utraj_roll2, gains);