ENH: Barometer, ScalarSensors and InertialSensors

rocketpy/__init__.py

@@ -37,5 +37,5 @@
     Tail,
     TrapezoidalFins,
 )
-from .sensors import Accelerometer, Gyroscope, Sensors
+from .sensors import Accelerometer, Barometer, Gyroscope
 from .simulation import Flight

rocketpy/control/controller.py

@@ -101,6 +101,7 @@ def __init_controller_function(self, controller_function):
         sig = signature(controller_function)
         if len(sig.parameters) == 6:
 
+            # pylint: disable=unused-argument
             def new_controller_function(
                 time,
                 sampling_rate,

rocketpy/plots/rocket_plots.py

@@ -218,7 +218,7 @@ def draw(self, vis_args=None, plane="xz"):
         self._draw_motor(last_radius, last_x, ax, vis_args)
         self._draw_rail_buttons(ax, vis_args)
         self._draw_center_of_mass_and_pressure(ax)
-        self._draw_sensor(ax, self.rocket.sensors, plane, vis_args)
+        self._draw_sensors(ax, self.rocket.sensors, plane, vis_args)
 
         plt.title("Rocket Representation")
         plt.xlim()
@@ -555,7 +555,7 @@ def _draw_center_of_mass_and_pressure(self, ax):
             cp, 0, label="Static Center of Pressure", color="red", s=10, zorder=10
         )
 
-    def _draw_sensor(self, ax, sensors, plane, vis_args):
+    def _draw_sensors(self, ax, sensors, plane, vis_args):
         """Draw the sensor as a small thick line at the position of the sensor,
         with a vector pointing in the direction normal of the sensor. Get the
         normal vector from the sensor orientation matrix."""
@@ -591,19 +591,20 @@ def _draw_sensor(self, ax, sensors, plane, vis_args):
                 zorder=10,
                 label=sensor.name,
             )
-            ax.quiver(
-                x_pos,
-                y_pos,
-                normal_x,
-                normal_y,
-                color=colors[(i + 1) % len(colors)],
-                scale_units="xy",
-                angles="xy",
-                minshaft=2,
-                headwidth=2,
-                headlength=4,
-                zorder=10,
-            )
+            if abs(sensor.normal_vector) != 0:
+                ax.quiver(
+                    x_pos,
+                    y_pos,
+                    normal_x,
+                    normal_y,
+                    color=colors[(i + 1) % len(colors)],
+                    scale_units="xy",
+                    angles="xy",
+                    minshaft=2,
+                    headwidth=2,
+                    headlength=4,
+                    zorder=10,
+                )
 
     def all(self):
         """Prints out all graphs available about the Rocket. It simply calls

rocketpy/prints/sensors_prints.py

@@ -1,7 +1,7 @@
-from abc import ABC, abstractmethod
+from abc import ABC
 
 
-class _SensorsPrints(ABC):
+class _SensorPrints(ABC):
     def __init__(self, sensor):
         self.sensor = sensor
         self.units = sensor.units
@@ -32,14 +32,14 @@ def quantization(self):
         print("\nQuantization:\n")
         self._print_aligned(
             "Measurement Range:",
-            f"{self.sensor.measurement_range[0]} to {self.sensor.measurement_range[1]} ({self.units})",
+            f"{self.sensor.measurement_range[0]} "
+            + f"to {self.sensor.measurement_range[1]} ({self.units})",
         )
         self._print_aligned("Resolution:", f"{self.sensor.resolution} {self.units}/LSB")
 
-    @abstractmethod
     def noise(self):
         """Prints the noise of the sensor."""
-        pass
+        self._general_noise()
 
     def _general_noise(self):
         """Prints the noise of the sensor."""
@@ -62,45 +62,52 @@ def _general_noise(self):
             "Constant Bias:", f"{self.sensor.constant_bias} {self.units}"
         )
         self._print_aligned(
-            "Operating Temperature:", f"{self.sensor.operating_temperature} °C"
-        )
-        self._print_aligned(
-            "Temperature Bias:", f"{self.sensor.temperature_bias} {self.units}/°C"
+            "Operating Temperature:", f"{self.sensor.operating_temperature} K"
         )
         self._print_aligned(
-            "Temperature Scale Factor:", f"{self.sensor.temperature_scale_factor} %/°C"
+            "Temperature Bias:", f"{self.sensor.temperature_bias} {self.units}/K"
         )
         self._print_aligned(
-            "Cross Axis Sensitivity:", f"{self.sensor.cross_axis_sensitivity} %"
+            "Temperature Scale Factor:", f"{self.sensor.temperature_scale_factor} %/K"
         )
 
     def all(self):
         """Prints all information of the sensor."""
         self.identity()
-        self.orientation()
         self.quantization()
         self.noise()
 
 
-class _AccelerometerPrints(_SensorsPrints):
-    """Class that contains all accelerometer prints."""
+class _InertialSensorPrints(_SensorPrints):
 
-    def __init__(self, accelerometer):
-        """Initialize the class."""
-        super().__init__(accelerometer)
+    def orientation(self):
+        """Prints the orientation of the sensor."""
+        print("\nOrientation of the Sensor:\n")
+        self._print_aligned("Orientation:", self.sensor.orientation)
+        self._print_aligned("Normal Vector:", self.sensor.normal_vector)
+        print("Rotation Matrix:")
+        for row in self.sensor.rotation_matrix:
+            value = " ".join(f"{val:.2f}" for val in row)
+            value = [float(val) for val in value.split()]
+            self._print_aligned("", value)
 
-    def noise(self):
-        """Prints the noise of the sensor."""
-        self._general_noise()
+    def _general_noise(self):
+        super()._general_noise()
+        self._print_aligned(
+            "Cross Axis Sensitivity:", f"{self.sensor.cross_axis_sensitivity} %"
+        )
+
+    def all(self):
+        """Prints all information of the sensor."""
+        self.identity()
+        self.orientation()
+        self.quantization()
+        self.noise()
 
 
-class _GyroscopePrints(_SensorsPrints):
+class _GyroscopePrints(_InertialSensorPrints):
     """Class that contains all gyroscope prints."""
 
-    def __init__(self, gyroscope):
-        """Initialize the class."""
-        super().__init__(gyroscope)
-
     def noise(self):
         """Prints the noise of the sensor."""
         self._general_noise()

rocketpy/rocket/rocket.py

@@ -286,7 +286,7 @@ def __init__(
         self.thrust_eccentricity_y = 0
         self.thrust_eccentricity_x = 0
 
-        # Parachute, Aerodynamic, Buttons, Controllers, Sensors data initialization
+        # Parachute, Aerodynamic, Buttons, Controllers, Sensor data initialization
         self.parachutes = []
         self._controllers = []
         self.air_brakes = []

rocketpy/sensors/__init__.py

@@ -1,3 +1,4 @@
 from .accelerometer import Accelerometer
+from .barometer import Barometer
 from .gyroscope import Gyroscope
-from .sensors import Sensors
+from .sensor import InertialSensor, ScalarSensor, Sensor

rocketpy/sensors/accelerometer.py

@@ -1,20 +1,18 @@
-import json
-
 import numpy as np
 
 from ..mathutils.vector_matrix import Matrix, Vector
-from ..prints.sensors_prints import _AccelerometerPrints
-from ..sensors.sensors import Sensors
+from ..prints.sensors_prints import _InertialSensorPrints
+from ..sensors.sensor import InertialSensor
 
 
-class Accelerometer(Sensors):
+class Accelerometer(InertialSensor):
     """Class for the accelerometer sensor
 
     Attributes
     ----------
     consider_gravity : bool
         Whether the sensor considers the effect of gravity on the acceleration.
-    prints : _AccelerometerPrints
+    prints : _InertialSensorPrints
         Object that contains the print functions for the sensor.
     sampling_rate : float
         Sample rate of the sensor in Hz.
@@ -35,11 +33,11 @@ class Accelerometer(Sensors):
     constant_bias : float, list
         The constant bias of the sensor in m/s^2.
     operating_temperature : float
-        The operating temperature of the sensor in degrees Celsius.
+        The operating temperature of the sensor in Kelvin.
     temperature_bias : float, list
-        The temperature bias of the sensor in m/s^2/°C.
+        The temperature bias of the sensor in m/s^2/K.
     temperature_scale_factor : float, list
-        The temperature scale factor of the sensor in %/°C.
+        The temperature scale factor of the sensor in %/K.
     cross_axis_sensitivity : float
         The cross axis sensitivity of the sensor in percentage.
     name : str
@@ -145,15 +143,16 @@ def __init__(
             is applied to all axes. The values of each axis can be set
             individually by passing a list of length 3.
         operating_temperature : float, optional
-            The operating temperature of the sensor in degrees Celsius. At 25°C,
-            the temperature bias and scale factor are 0. Default is 25.
+            The operating temperature of the sensor in Kelvin.
+            At 298.15 K (25 °C), the sensor is assumed to operate ideally, no
+            temperature related noise is applied. Default is 298.15.
         temperature_bias : float, list, optional
-            The temperature bias of the sensor in m/s^2/°C. Default is 0,
+            The temperature bias of the sensor in m/s^2/K. Default is 0,
             meaning no temperature bias is applied. If a float or int is given,
             the same temperature bias is applied to all axes. The values of each
             axis can be set individually by passing a list of length 3.
         temperature_scale_factor : float, list, optional
-            The temperature scale factor of the sensor in %/°C. Default is 0,
+            The temperature scale factor of the sensor in %/K. Default is 0,
             meaning no temperature scale factor is applied. If a float or int is
             given, the same temperature scale factor is applied to all axes. The
             values of each axis can be set individually by passing a list of
@@ -192,29 +191,38 @@ def __init__(
             name=name,
         )
         self.consider_gravity = consider_gravity
-        self.prints = _AccelerometerPrints(self)
+        self.prints = _InertialSensorPrints(self)
 
-    def measure(self, t, u, u_dot, relative_position, gravity, *args):
+    def measure(self, time, **kwargs):
         """Measure the acceleration of the rocket
 
         Parameters
         ----------
-        t : float
-            Current time
-        u : list
-            State vector of the rocket
-        u_dot : list
-            Derivative of the state vector of the rocket
-        relative_position : Vector
-            Position of the sensor relative to the rocket cdm
-        gravity : float
-            Acceleration due to gravity
+        time : float
+            Current time in seconds.
+        kwargs : dict
+            Keyword arguments dictionary containing the following keys:
+            - u : np.array
+                State vector of the rocket.
+            - u_dot : np.array
+                Derivative of the state vector of the rocket.
+            - relative_position : np.array
+                Position of the sensor relative to the rocket center of mass.
+            - gravity : float
+                Gravitational acceleration in m/s^2.
+            - pressure : Function
+                Atmospheric pressure profile as a function of altitude in Pa.
         """
+        u = kwargs["u"]
+        u_dot = kwargs["u_dot"]
+        relative_position = kwargs["relative_position"]
+        gravity = kwargs["gravity"]
+
         # Linear acceleration of rocket cdm in inertial frame
         gravity = (
             Vector([0, 0, -gravity]) if self.consider_gravity else Vector([0, 0, 0])
         )
-        a_I = Vector(u_dot[3:6]) + gravity
+        inertial_acceleration = Vector(u_dot[3:6]) + gravity
 
         # Vector from rocket cdm to sensor in rocket frame
         r = relative_position
@@ -225,7 +233,7 @@ def measure(self, t, u, u_dot, relative_position, gravity, *args):
 
         # Measured acceleration at sensor position in inertial frame
         A = (
-            a_I
+            inertial_acceleration
             + Vector.cross(omega_dot, r)
             + Vector.cross(omega, Vector.cross(omega, r))
         )
@@ -241,64 +249,25 @@ def measure(self, t, u, u_dot, relative_position, gravity, *args):
         A = self.quantize(A)
 
         self.measurement = tuple([*A])
-        self._save_data((t, *A))
+        self._save_data((time, *A))
 
-    def export_measured_data(self, filename, format="csv"):
-        """
-        Export the measured values to a file
+    def export_measured_data(self, filename, file_format="csv"):
+        """Export the measured values to a file
 
         Parameters
         ----------
         filename : str
             Name of the file to export the values to
-        format : str
+        file_format : str
             Format of the file to export the values to. Options are "csv" and
             "json". Default is "csv".
 
         Returns
         -------
         None
         """
-        if format.lower() not in ["json", "csv"]:
-            raise ValueError("Invalid format")
-        if format.lower() == "csv":
-            # if sensor has been added multiple times to the simulated rocket
-            if isinstance(self.measured_data[0], list):
-                print("Data saved to", end=" ")
-                for i, data in enumerate(self.measured_data):
-                    with open(filename + f"_{i+1}", "w") as f:
-                        f.write("t,ax,ay,az\n")
-                        for t, ax, ay, az in data:
-                            f.write(f"{t},{ax},{ay},{az}\n")
-                    print(filename + f"_{i+1},", end=" ")
-            else:
-                with open(filename, "w") as f:
-                    f.write("t,ax,ay,az\n")
-                    for t, ax, ay, az in self.measured_data:
-                        f.write(f"{t},{ax},{ay},{az}\n")
-                print(f"Data saved to {filename}")
-            return
-        if format.lower() == "json":
-            if isinstance(self.measured_data[0], list):
-                print("Data saved to", end=" ")
-                for i, data in enumerate(self.measured_data):
-                    dict = {"t": [], "ax": [], "ay": [], "az": []}
-                    for t, ax, ay, az in data:
-                        dict["t"].append(t)
-                        dict["ax"].append(ax)
-                        dict["ay"].append(ay)
-                        dict["az"].append(az)
-                    with open(filename + f"_{i+1}", "w") as f:
-                        json.dump(dict, f)
-                    print(filename + f"_{i+1},", end=" ")
-            else:
-                dict = {"t": [], "ax": [], "ay": [], "az": []}
-                for t, ax, ay, az in self.measured_data:
-                    dict["t"].append(t)
-                    dict["ax"].append(ax)
-                    dict["ay"].append(ay)
-                    dict["az"].append(az)
-                with open(filename, "w") as f:
-                    json.dump(dict, f)
-                print(f"Data saved to {filename}")
-            return
+        self._generic_export_measured_data(
+            filename=filename,
+            file_format=file_format,
+            data_labels=("t", "ax", "ay", "az"),
+        )