Merge pull request #9 from Mizu49/attitude-control

Fundamental rigid-body 3D Dynamics has been implemented! Our `v0.0.0` release is deployed now!

Author: Mizu49

.devcontainer/Dockerfile

@@ -16,3 +16,7 @@ RUN apt-get install -y libxt6 libxrender1 libxext6 libgl1-mesa-glx libqt5widgets
 
 # Install `Plots.jl and precompile it`
 RUN julia -e 'using Pkg; Pkg.REPLMode.pkgstr("add Plots;precompile");using Plots'
+
+# Install `Reexport.jl`
+RUN julia -e 'import Pkg; Pkg.add("Reexport")'
+

.devcontainer/devcontainer.json

@@ -7,8 +7,6 @@
     "dockerFile": "Dockerfile",
 
     "settings": { 
-        // use bash as terminal
-        "terminal.integrated.shell.linux": "/bin/bash",
 
         // set path of git
         "git.path": "/usr/bin/git",
@@ -20,8 +18,9 @@
     // user name of container
     "remoteUser": "root",
 
-    // specify vs code extentions you will use on remote
+    // specify vs code extensions you will use on remote
     "extensions": [
-        "julialang.language-julia"
+        // mandatory for julia development
+        "julialang.language-julia",
     ]
 }

.gitignore

@@ -1,3 +1,6 @@
+# Output files generated by our program
+*.gif
+
 # Files generated by invoking Julia with --code-coverage
 *.jl.cov
 *.jl.*.cov

.vscode/launch.json

@@ -0,0 +1,17 @@
+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "type": "julia",
+            "request": "launch",
+            "name": "Run active Julia file",
+            "program": "${file}",
+            "stopOnEntry": false,
+            "cwd": "${workspaceFolder}",
+            "juliaEnv": "${command:activeJuliaEnvironment}"
+        }
+    ]
+}

README.md

@@ -1,3 +1,6 @@
 # FlexibleSpacecraft.jl
-## 開発環境
-`devcontainer`にある`Dockerfile`を基にDockerコンテナの中で開発する．
+
+`FlexibleSpacecraft.jl` is an **Open Source Spacecraft Attitude-Structure Coupling Simulator** developed in Julia Language.
+
+*This project is quite new and under active initial development for open-source release.*
+

basic-study/metaprogramming.jl

@@ -0,0 +1,68 @@
+include("src/FlexibleSpacecraft.jl")
+using .FlexibleSpacecraft
+
+# Inertia matrix
+Inertia = diagm([1.0, 1.0, 2.0])
+
+# Disturbance torque
+Torque = [0.02, 0.0, 0.0]
+
+
+# Dynamics model (mutable struct)
+dynamicsModel = AttitudeDynamics.DynamicsModel(Inertia, Torque)
+
+# サンプリング時間
+Ts = 1e-2
+
+simulationTime = 60
+
+# 時刻
+time = 0:Ts:simulationTime
+
+# Numbers of simulation data
+simDataNum = round(Int, simulationTime/Ts) + 1;
+
+# Coordinate system of a
+coordinateA = TimeLine.CoordinateVector(
+    [1, 0, 0],
+    [0, 1, 0],
+    [0, 0, 1]
+)
+
+# Coordinate system of b
+coordinateB = TimeLine.initBodyCoordinate(simDataNum, coordinateA)
+
+omegaBA = TimeLine.initAngularVelocity(simDataNum, [0, 0, 1])
+
+quaternion = TimeLine.initQuaternion(simDataNum, [0, 0, 0, 1])
+
+println("Begin simulation!")
+for loopCounter = 1:simDataNum-1
+
+    # println(loopCounter)    
+    
+    currentCoordB = hcat(coordinateB.x[:,loopCounter] , coordinateB.y[:,loopCounter], coordinateB.z[:,loopCounter])
+
+    omegaBA[:, loopCounter+1] = AttitudeDynamics.updateAngularVelocity(dynamicsModel, time[loopCounter], omegaBA[:, loopCounter], Ts, currentCoordB)
+
+    quaternion[:, loopCounter+1] = AttitudeDynamics.updateQuaternion(omegaBA[:,loopCounter], quaternion[:, loopCounter], Ts)
+
+    C = AttitudeDynamics.getTransformationMatrix(quaternion[:, loopCounter])
+
+    coordinateB.x[:, loopCounter+1] = C * coordinateA.x
+    coordinateB.y[:, loopCounter+1] = C * coordinateA.y
+    coordinateB.z[:, loopCounter+1] = C * coordinateA.z
+    
+end
+println("Simulation is completed!")
+
+# fig1 = PlotGenerator.plotAngularVelocity(time, omegaBA)
+# display(fig1)
+
+
+fig2 = PlotGenerator.getCoordinateGif(time, Ts, coordinateA, coordinateB)
+display(fig2)
+
+# bodyCoordinate = TimeLine.extractCoordinateVector(10, Ts, coordinateB)
+# fig3 = PlotGenerator.plotCoordinate(10, coordinateA, bodyCoordinate)
+# display(fig3)