Making Copyright disclaimers consistent and removing dunder names

The copyright disclaimers were missing in multiple python files. furthermore I adapted them to contain my middle name which i forgot earlier. For now all the dunder names are removed until we decide to add them back in again.

Author: manumerous

Tools/parametric_model/generate_parametric_model.py

@@ -1,6 +1,6 @@
 """
  *
- * Copyright (c) 2021 Manuel Galliker
+ * Copyright (c) 2021 Manuel Yves Galliker
  *               2021 Autonomous Systems Lab ETH Zurich
  * All rights reserved.
  * Redistribution and use in source and binary forms, with or without

Tools/parametric_model/requirements.txt

@@ -1,7 +1,6 @@
 h5py>=3.1.0
 numpy>=1.19.5
 pandas>=1.1.5
-# pyproj>=3.0.1
 pyulog>=0.8.0
 scikit-learn>=0.24.1
 matplotlib>=3.3.4

Tools/parametric_model/src/__init__.py

@@ -1,9 +1,3 @@
-"""Provides interface to access all modules available in the src directory"""
-
-__author__ = "Manuel Galliker"
-__maintainer__ = "Manuel Galliker"
-__license__ = "BSD 3"
-
 from . import models
 from . import tools
 from . import optimizers

Tools/parametric_model/src/models/__init__.py

@@ -1,9 +1,3 @@
-"""Provides interface to access all modules available in the model directly"""
-
-__author__ = "Manuel Galliker"
-__maintainer__ = "Manuel Galliker"
-__license__ = "BSD 3"
-
 from . import aerodynamic_models
 from . import rotor_models
 from . import model_plots

Tools/parametric_model/src/models/aerodynamic_models/__init__.py

@@ -1,11 +1,3 @@
-"""Provides interface to access all modules available in the model directly"""
-
-__author__ = "Manuel Galliker"
-__maintainer__ = "Manuel Galliker"
-__license__ = "BSD 3"
-
-
 from .fuselage_drag_model import FuselageDragModel
 from .standard_wing_model import StandardWingModel
 from .control_surface_model import ControlSurfaceModel
-

Tools/parametric_model/src/models/aerodynamic_models/control_surface_model.py

@@ -1,6 +1,6 @@
 """
  *
- * Copyright (c) 2021 Manuel Galliker
+ * Copyright (c) 2021 Manuel Yves Galliker
  *               2021 Autonomous Systems Lab ETH Zurich
  * All rights reserved.
  * Redistribution and use in source and binary forms, with or without
@@ -57,14 +57,17 @@ def compute_actuator_force_features(self, index, v_airspeed, angle_of_attack):
         Model description:
         """
         actuator_input = self.actuator_input_vec[index]
-        q_xz = 0.5 * self.air_density * (v_airspeed[0]**2 + v_airspeed[2]**2) #TODO Take dynamic pressure
+        q_xz = 0.5 * self.air_density * \
+            (v_airspeed[0]**2 + v_airspeed[2]**2)  # TODO Take dynamic pressure
         # TODO Compute lift axis and drag axis
         lift_axis = np.array([v_airspeed[0], 0.0, v_airspeed[2]])
         lift_axis = (lift_axis / np.linalg.norm(lift_axis)).reshape((3, 1))
-        drag_axis = (-1.0 * v_airspeed / np.linalg.norm(v_airspeed)).reshape((3, 1))
-        X_lift = lift_axis @ np.array([[actuator_input]]) *q_xz * self.area
-        X_drag = drag_axis @ np.array([[actuator_input]]) *q_xz * self.area
-        R_aero_to_body = Rotation.from_rotvec([0, -angle_of_attack, 0]).as_matrix()
+        drag_axis = (-1.0 * v_airspeed /
+                     np.linalg.norm(v_airspeed)).reshape((3, 1))
+        X_lift = lift_axis @ np.array([[actuator_input]]) * q_xz * self.area
+        X_drag = drag_axis @ np.array([[actuator_input]]) * q_xz * self.area
+        R_aero_to_body = Rotation.from_rotvec(
+            [0, -angle_of_attack, 0]).as_matrix()
         X_lift_body = R_aero_to_body @ X_lift
         X_drag_body = R_aero_to_body @ X_drag
 
@@ -75,15 +78,21 @@ def compute_actuator_moment_features(self, index, v_airspeed, angle_of_attack):
         Model description:
         """
         actuator_input = self.actuator_input_vec[index]
-        q_xz = 0.5 * self.air_density * (v_airspeed[0]**2 + v_airspeed[2]**2) #TODO Take dynamic pressure
+        q_xz = 0.5 * self.air_density * \
+            (v_airspeed[0]**2 + v_airspeed[2]**2)  # TODO Take dynamic pressure
         lift_axis = np.array([v_airspeed[0], 0.0, v_airspeed[2]])
         yaw_axis = (lift_axis / np.linalg.norm(lift_axis)).reshape((3, 1))
-        roll_axis = ( v_airspeed / np.linalg.norm(v_airspeed)).reshape((3, 1))
-        pitch_axis = np.cross(np.transpose(yaw_axis), np.transpose(roll_axis)).reshape((3, 1))
-        X_roll_moment = roll_axis @ np.array([[actuator_input]]) * q_xz * self.area
-        X_pitch_moment = pitch_axis @ np.array([[actuator_input]]) * q_xz * self.area
-        X_yaw_moment = yaw_axis @ np.array([[actuator_input]]) *q_xz * self.area
-        R_aero_to_body = Rotation.from_rotvec([0, -angle_of_attack, 0]).as_matrix()
+        roll_axis = (v_airspeed / np.linalg.norm(v_airspeed)).reshape((3, 1))
+        pitch_axis = np.cross(np.transpose(yaw_axis),
+                              np.transpose(roll_axis)).reshape((3, 1))
+        X_roll_moment = roll_axis @ np.array(
+            [[actuator_input]]) * q_xz * self.area
+        X_pitch_moment = pitch_axis @ np.array(
+            [[actuator_input]]) * q_xz * self.area
+        X_yaw_moment = yaw_axis @ np.array([[actuator_input]]
+                                           ) * q_xz * self.area
+        R_aero_to_body = Rotation.from_rotvec(
+            [0, -angle_of_attack, 0]).as_matrix()
         X_roll_moment_body = R_aero_to_body @ X_roll_moment
         X_pitch_moment_body = R_aero_to_body @ X_pitch_moment
         X_yaw_moment_body = R_aero_to_body @ X_yaw_moment
@@ -93,11 +102,13 @@ def compute_actuator_moment_features(self, index, v_airspeed, angle_of_attack):
     def compute_actuator_force_matrix(self, v_airspeed_mat, angle_of_attack_vec):
         print("Computing force features for control surface:", self.name)
 
-        X_forces = self.compute_actuator_force_features(0, v_airspeed_mat[0, :], angle_of_attack_vec[0, :])
+        X_forces = self.compute_actuator_force_features(
+            0, v_airspeed_mat[0, :], angle_of_attack_vec[0, :])
         rotor_features_bar = Bar(
             'Feature Computatiuon', max=self.actuator_input_vec.shape[0])
         for index in range(1, self.n_timestamps):
-            X_force_curr = self.compute_actuator_force_features(index, v_airspeed_mat[index, :], angle_of_attack_vec[index, :])
+            X_force_curr = self.compute_actuator_force_features(
+                index, v_airspeed_mat[index, :], angle_of_attack_vec[index, :])
             X_forces = np.vstack((X_forces, X_force_curr))
             rotor_features_bar.next()
         rotor_features_bar.finish()
@@ -109,11 +120,13 @@ def compute_actuator_force_matrix(self, v_airspeed_mat, angle_of_attack_vec):
     def compute_actuator_moment_matrix(self, v_airspeed_mat, angle_of_attack_vec):
         print("Computing moment features for control surface:", self.name)
 
-        X_moments = self.compute_actuator_moment_features(0, v_airspeed_mat[0, :], angle_of_attack_vec[0, :])
+        X_moments = self.compute_actuator_moment_features(
+            0, v_airspeed_mat[0, :], angle_of_attack_vec[0, :])
         rotor_features_bar = Bar(
             'Feature Computatiuon', max=self.actuator_input_vec.shape[0])
         for index in range(1, self.n_timestamps):
-            X_moment_curr = self.compute_actuator_moment_features(index, v_airspeed_mat[index, :], angle_of_attack_vec[index, :])
+            X_moment_curr = self.compute_actuator_moment_features(
+                index, v_airspeed_mat[index, :], angle_of_attack_vec[index, :])
             X_moments = np.vstack((X_moments, X_moment_curr))
             rotor_features_bar.next()
         rotor_features_bar.finish()

Tools/parametric_model/src/models/aerodynamic_models/fuselage_drag_model.py

@@ -1,6 +1,6 @@
 """
  *
- * Copyright (c) 2021 Manuel Galliker
+ * Copyright (c) 2021 Manuel Yves Galliker
  *               2021 Autonomous Systems Lab ETH Zurich
  * All rights reserved.
  * Redistribution and use in source and binary forms, with or without

Tools/parametric_model/src/models/aerodynamic_models/standard_wing_model.py

@@ -1,6 +1,6 @@
 """
  *
- * Copyright (c) 2021 Manuel Galliker
+ * Copyright (c) 2021 Manuel Yves Galliker
  *               2021 Autonomous Systems Lab ETH Zurich
  * All rights reserved.
  * Redistribution and use in source and binary forms, with or without
@@ -137,7 +137,8 @@ def compute_wing_moment_features(self, v_airspeed, angle_of_attack, angle_of_sid
             if abs(AoA) < stall_angle: cropped_sym_sigmoid(AoA) = 0
             if abs(AoA) > stall_angle: cropped_sym_sigmoid(AoA) = 1
         """
-        q_xz = 0.5 * self.air_density * (v_airspeed[0]**2 + v_airspeed[2]**2) #TODO Take dynamic pressure
+        q_xz = 0.5 * self.air_density * \
+            (v_airspeed[0]**2 + v_airspeed[2]**2)  # TODO Take dynamic pressure
         q_xy = 0.5 * self.air_density * (v_airspeed[0]**2 + v_airspeed[1]**2)
 
         X_wing_aero_frame = np.zeros((3, 3))
@@ -153,12 +154,12 @@ def compute_wing_moment_features(self, v_airspeed, angle_of_attack, angle_of_sid
 
         # Compute Pitch Moment coeffiecients:
         X_wing_aero_frame[1, 0] = flow_attached_region * q_xz * self.area
-        X_wing_aero_frame[1, 1] = flow_attached_region * q_xz * self.area * angle_of_attack
-
-	# TODO: Compute Yaw Moment coeffiecients:   
-        X_wing_aero_frame[2, 2] = flow_attached_region * q_xy * self.area * angle_of_sideslip
+        X_wing_aero_frame[1, 1] = flow_attached_region * \
+            q_xz * self.area * angle_of_attack
 
-        
+        # TODO: Compute Yaw Moment coeffiecients:
+        X_wing_aero_frame[2, 2] = flow_attached_region * \
+            q_xy * self.area * angle_of_sideslip
 
         # Transorm from stability axis frame to body FRD frame
         R_aero_to_body = Rotation.from_rotvec(
@@ -167,7 +168,6 @@ def compute_wing_moment_features(self, v_airspeed, angle_of_attack, angle_of_sid
 
         return X_wing_body_frame
 
-
     def compute_aero_force_features(self, v_airspeed_mat, angle_of_attack_vec):
         """
         Inputs:
@@ -209,6 +209,7 @@ def compute_aero_moment_features(self, v_airspeed_mat, angle_of_attack_vec, angl
             X_aero = np.vstack((X_aero, X_curr))
             aero_features_bar.next()
         aero_features_bar.finish()
-        wing_coef_list = ["c_m_x_wing_xz_offset", "c_m_x_wing_xz_lin", "c_m_z_wing_lin"]
+        wing_coef_list = ["c_m_x_wing_xz_offset",
+                          "c_m_x_wing_xz_lin", "c_m_z_wing_lin"]
         aero_coef_list = wing_coef_list
         return X_aero, aero_coef_list

Tools/parametric_model/src/models/dynamics_model.py

@@ -1,6 +1,6 @@
 """
  *
- * Copyright (c) 2021 Manuel Galliker
+ * Copyright (c) 2021 Manuel Yves Galliker
  *               2021 Autonomous Systems Lab ETH Zurich
  * All rights reserved.
  * Redistribution and use in source and binary forms, with or without
@@ -35,6 +35,9 @@
 """ The model class contains properties shared between all models and shgall simplyfy automated checks and the later
 export to a sitl gazebo model by providing a unified interface for all models. """
 
+
+
+
 from progress.bar import Bar
 import pandas as pd
 import math
@@ -44,15 +47,12 @@
 import src.optimizers as optimizers
 from scipy.linalg import block_diag
 import matplotlib.pyplot as plt
-
 from .rotor_models import RotorModel, BiDirectionalRotorModel, TiltingRotorModel, ChangingAxisRotorModel
 from .model_plots import model_plots, aerodynamics_plots, linear_model_plots
 from src.tools.ulog_tools import load_ulog, pandas_from_topic
 from src.tools.dataframe_tools import compute_flight_time, resample_dataframe_list
 from src.tools.quat_utils import quaternion_to_rotation_matrix
 from src.tools.math_tools import cropped_sym_sigmoid
-
-
 class DynamicsModel():
     def __init__(self, config_dict):
 

Tools/parametric_model/src/models/model_config.py

@@ -1,6 +1,6 @@
 """
  *
- * Copyright (c) 2021 Manuel Galliker
+ * Copyright (c) 2021 Manuel Yves Galliker
  *               2021 Autonomous Systems Lab ETH Zurich
  * All rights reserved.
  * Redistribution and use in source and binary forms, with or without