public SensorEstimatedState(SensorModel sensorModel, PhysicalHeliState initialState) { _sensors = sensorModel; _initialState = initialState; _estimated = new PhysicalHeliState(); Log = new List<HelicopterLogSnapshot>(); }
public override void Update(PhysicalHeliState startState, PhysicalHeliState endState, JoystickOutput output, TimeSpan startTime, TimeSpan endTime) { // Note: The sonic range finder is concerned with measuring at the new position in the timestep, // so always use endState here. PhysicalHeliState stateToMeasure = endState; Vector3 worldDirection = Vector3.Transform(_relativeRangeDirection, stateToMeasure.Orientation); worldDirection.Normalize(); // Line equation, how long must line be to reach ground at y=y0 at given angle? // y = ax + b // y0 = worldDirection.Y * u + state.Position.Y => // u = (y0-state.Position.Y)/worldDirection.Y Vector2 mapPosition = VectorHelper.ToHorizontal(stateToMeasure.Position); float y0 = _map.GetAltitude(mapPosition); if (stateToMeasure.Position.Y <= y0) FlatGroundHeight = stateToMeasure.Position.Y - y0; // This will only be the case if we can fly through the terrain.. usually this should never happen else { const float maxRange = 10f; const float minDelta = 0.001f; // Search resolution, returns distance when searching further does not improve the distance accuracy more than this float rayDistanceToGround = BinarySearchTerrainRayIntersection(0, maxRange, minDelta, stateToMeasure.Position, worldDirection); if (float.IsNaN(rayDistanceToGround)) FlatGroundHeight = float.NaN; else { // A vector from the current position to the ground Vector3 rangeVectorToGround = worldDirection*rayDistanceToGround; // Invert vector and take its Y component to give flat ground height FlatGroundHeight = Vector3.Negate(rangeVectorToGround).Y; } } }
public void GetState(out PhysicalHeliState estimated, out PhysicalHeliState observed, out PhysicalHeliState blindEstimatedState) { estimated = new PhysicalHeliState(_currentState.Result.Orientation, _currentState.Result.Position, _currentState.Result.Velocity, _currentState.StartingCondition.Acceleration); observed = new PhysicalHeliState(); blindEstimatedState = new PhysicalHeliState(); }
public SimulationStepResults(PhysicalHeliState startState, TimeSpan startTime) { StartingCondition = new TimestepStartingCondition(startState.Position, startState.Velocity, startState.Acceleration, startState.Orientation, startTime); Result = new TimestepResult(startState.Position, startState.Velocity, startState.Orientation, startTime); StartTime = startTime; EndTime = startTime; Duration = TimeSpan.Zero; }
public override void Update(PhysicalHeliState startState, PhysicalHeliState endState, JoystickOutput output, TimeSpan startTime, TimeSpan endTime) { PhysicalHeliState stateToMeasure = endState; // TODO Fill XYZ magnetic readings // TODO Simulate sensor lag, inaccuarcy, noise.. _sampleHistory.Add(stateToMeasure.Axes); CurrentMeasuredAxes = IsPerfect ? stateToMeasure.Axes : ComputeMeanAxes(); }
public HelicopterLogSnapshot(PhysicalHeliState trueState, PhysicalHeliState observedState, PhysicalHeliState estimatedState, PhysicalHeliState blindEstimatedState, ForwardRightUp accelerometer, float groundAltitude, TimeSpan time) { True = trueState; Estimated = estimatedState; Observed = observedState; Time = time; Accelerometer = accelerometer; BlindEstimated = blindEstimatedState; GroundAltitude = groundAltitude; }
public override void Update(PhysicalHeliState startState, PhysicalHeliState endState, JoystickOutput output, TimeSpan totalSimulationTime, TimeSpan endTime) { PhysicalHeliState stateToMeasure = endState; float trueAltitude = stateToMeasure.Position.Y; if (IsPerfect) Altitude = trueAltitude; else { float simulatedPressure = _pressureProvider.GetSimulatedStaticPressure(trueAltitude); Altitude = StaticPressureHelper.GetAltitude(simulatedPressure, SeaLevelStaticPressure); } }
/// <summary>Calculates the input and external forces.</summary> /// <returns>The new orientation and the total acceleration for this orientation in this timestep.</returns> public SimulationStepResults PerformTimestep(PhysicalHeliState prev, JoystickOutput output, TimeSpan stepDuration, TimeSpan stepEndTime) { if (!_isInitialized) { // startCondition.Acceleration = CalculateAcceleration(startCondition.Orientation, startCondition.Velocity, input); _prevTimestepResult = new TimestepResult(prev.Position, prev.Velocity, prev.Orientation, stepEndTime - stepDuration); _isInitialized = true; } // If the number of substeps is 0 then only the state at the end of the timestep will be calculated. // If the number is greater than 1, then the timestep will 1 then a substep will be calculated in the middle of the timestep. const int substeps = 0; if (substeps < 0) throw new Exception("The number of substeps is invalid."); TimeSpan substepDuration = stepDuration.Divide(1 + substeps); Vector3 initialAcceleration = CalculateAcceleration(prev.Orientation, prev.Velocity, output); var initialState = new TimestepStartingCondition(_prevTimestepResult, initialAcceleration); //_prevTimestepResult.Result; // var substepResults = new List<SubstepResults> {initialState}; // We always need to calculate at least the timestep itself, plus any optional substeps. // Substeps are used to provide sensors with a higher frequency of data than the simulator is capable of rendering real-time. // const int stepsToCalculate = substeps + 1; // SubstepResults prevSubstep = initialState; // for (int i = 0; i < stepsToCalculate; i++) // { // prevSubstep.Acceleration = CalculateAcceleration(prevSubstep.Orientation, prevSubstep.Velocity, input); // SubstepResults r = SimulateStep(prevSubstep, prevSubstep.Acceleration, input, substepDuration, stepEndTime); // // substepResults.Add(r); // prevSubstep = r; // } TimestepResult result = SimulateStep(initialState, output, substepDuration, stepEndTime); //new SimulationStepResults(stepDuration, substepDuration, substepResults); _prevTimestepResult = result; // DebugInformation.Time1 = stepEndTime; // DebugInformation.Q1 = result.Orientation; // // DebugInformation.Vectors["Pos"] = result.Position; // DebugInformation.Vectors["Vel"] = result.Velocity; // DebugInformation.Vectors["Acc"] = initialAcceleration; return new SimulationStepResults(initialState, result, stepEndTime - stepDuration, stepEndTime); }
public override void Update(PhysicalHeliState startState, PhysicalHeliState endState, JoystickOutput output, TimeSpan startTime, TimeSpan endTime) { var dt = (float) ((endTime - startTime).TotalSeconds); _rate.Pitch = output.Pitch*PhysicsConstants.MaxPitchRate; _rate.Roll = output.Roll*PhysicsConstants.MaxRollRate; _rate.Yaw = output.Yaw*PhysicsConstants.MaxYawRate; // Note it is important to explicitly calculate the delta and not reuse the _rate values multiplied by dt // See http://stackoverflow.com/questions/2491161/why-differs-floating-point-precision-in-c-when-separated-by-parantheses-and-when // and QuaternionPrecisionTest.Test() for more information about precision. _delta.Pitch = output.Pitch*PhysicsConstants.MaxPitchRate*dt; _delta.Roll = output.Roll*PhysicsConstants.MaxRollRate*dt; _delta.Yaw = output.Yaw*PhysicsConstants.MaxYawRate*dt; // TODO Handle IsPerfect == false }
/// <summary> /// Returns a new physical state where the values represent the error in the estimated state to /// the given true state. I.e. position = estimatedPosition - truePosition. /// </summary> /// <param name="trueState"></param> /// <param name="estimatedState"></param> /// <returns></returns> public static PhysicalHeliState GetError(PhysicalHeliState trueState, PhysicalHeliState estimatedState) { var axesError = new Axes { Forward = estimatedState.Axes.Forward - trueState.Axes.Forward, Right = estimatedState.Axes.Right - trueState.Axes.Right, Up = estimatedState.Axes.Up - trueState.Axes.Up }; // var rotationError = new Matrix {Forward = axesError.Forward, Right = axesError.Right, Up = axesError.Up}; // TODO Verify this works, since axes were originally used to compute state instead of orientation (but should equivalent) return new PhysicalHeliState( Quaternion.Identity, // TODO Not sure how to represent rotation error in quaternion representation estimatedState.Position - trueState.Position, estimatedState.Velocity - trueState.Velocity, estimatedState.Acceleration - trueState.Acceleration); }
/// <summary> /// TODO Temporary. We might later distinguish between physical state and navigation state. /// </summary> /// <param name="s"></param> /// <param name="heightAboveGround"></param> /// <param name="waypoint"></param> /// <param name="output"></param> /// <returns></returns> public static HeliState ToHeliState(PhysicalHeliState s, float heightAboveGround, Waypoint waypoint, JoystickOutput output) { // Update state var r = new HeliState { HeightAboveGround = heightAboveGround, Orientation = s.Orientation, Forward = s.Axes.Forward, Up = s.Axes.Up, Right = s.Axes.Right, Output = output, Position = s.Position, Velocity = s.Velocity, Acceleration = s.Acceleration, Waypoint = waypoint, HPositionToGoal = VectorHelper.ToHorizontal(waypoint.Position - s.Position), }; // Update angles from current state var radians = new Angles { PitchAngle = VectorHelper.GetPitchAngle(s.Orientation), RollAngle = VectorHelper.GetRollAngle(s.Orientation), HeadingAngle = VectorHelper.GetHeadingAngle(s.Orientation), }; // Velocity can be zero, and thus have no direction (NaN angle) radians.BearingAngle = (s.Velocity.Length() < 0.001f) ? radians.HeadingAngle : VectorHelper.GetHeadingAngle(s.Velocity); //GetAngle(VectorHelper.ToHorizontal(s.Velocity)); radians.GoalAngle = VectorHelper.GetAngle(r.HPositionToGoal); radians.BearingErrorAngle = VectorHelper.DiffAngle(radians.BearingAngle, radians.GoalAngle); // Store angles as both radians and degrees for ease-of-use later r.Radians = radians; r.Degrees = ToDegrees(radians); return r; }
private void UpdatePhysicalState(GameTime gameTime, JoystickOutput output, out PhysicalHeliState trueState) { _simulationState = _physics.PerformTimestep(_physicalState, output, gameTime.ElapsedGameTime, gameTime.TotalGameTime); TimestepResult final = _simulationState.Result; // We need to use the second last simulation substep to obtain the current acceleration used // because the entire substep has constant acceleration and it makes no sense // to use the acceleration calculated for the state after the timestep because no animation will occur after it. // TODO Support substeps Vector3 currentAcceleration = _simulationState.StartingCondition.Acceleration; trueState = new PhysicalHeliState(final.Orientation, final.Position, final.Velocity, currentAcceleration); }
public override void Update(GameTime gameTime) { if (_playEngineSound && _engineSoundInst != null && _engineSoundInst.State != SoundState.Playing) _engineSoundInst.Play(); long totalTicks = gameTime.TotalGameTime.Ticks; JoystickOutput output = GetJoystickInput(totalTicks); // Invert yaw because we want yaw rotation positive as clockwise seen from above output.Yaw *= -1; // Update physics and sensors + state estimators PhysicalHeliState trueState, observedState, estimatedState, blindEstimatedState; UpdatePhysicalState(gameTime, output, out trueState); UpdateStateEstimators(_simulationState, gameTime, output, out estimatedState, out blindEstimatedState, out observedState); float trueGroundAltitude = GetGroundAltitude(trueState.Position); float estimatedGroundAltitude = GetGroundAltitude(trueState.Position); float trueHeightAboveGround = GetHeightAboveGround(trueState.Position); float gpsinsHeightAboveGround = GetHeightAboveGround(estimatedState.Position); float rangefinderHeightAboveGround = _sensors.GroundRangeFinder.FlatGroundHeight; float estimatedHeightAboveGround; if (!_testConfiguration.UseGPS) throw new NotImplementedException(); else if (!_testConfiguration.UseINS) throw new NotImplementedException(); if (_testConfiguration.UseGPS && _testConfiguration.UseINS) { if (!_testConfiguration.UseRangeFinder) estimatedHeightAboveGround = gpsinsHeightAboveGround; else { // The range finder may be out of range (NaN) and typically requires <10 meters. // In this case we need to fully trust INS/GPS estimate. // Note GPS is easily out-bested by range finder, so no need to weight estimatedHeightAboveGround = float.IsNaN(rangefinderHeightAboveGround) ? gpsinsHeightAboveGround : rangefinderHeightAboveGround; // : 0.2f*gpsinsHeightAboveGround + 0.8f*rangefinderHeightAboveGround; } } else throw new NotImplementedException(); // Override Kalman Filter estimate of altitude by the more accurate range finder. // However, there is a problem that the estimated map altitude depends on the estimated horizontal position; which is inaccurate. estimatedState.Position.Y = estimatedHeightAboveGround + estimatedGroundAltitude; _physicalState = trueState; _trueState = StateHelper.ToHeliState(trueState, trueHeightAboveGround, Autopilot.CurrentWaypoint, output); _estimatedState = StateHelper.ToHeliState(estimatedState, estimatedHeightAboveGround, Autopilot.CurrentWaypoint, output); // _observedState = observedState; // Calculate current error in estimated state _estimatedStateError = StateHelper.GetError(_physicalState, StateHelper.ToPhysical(_estimatedState)); // Add current simulation step to log ForwardRightUp accelerometerData = _sensors.IMU.AccelerationLocal; Log.Add(new HelicopterLogSnapshot(trueState, observedState, estimatedState, blindEstimatedState, accelerometerData, trueGroundAltitude, gameTime.TotalGameTime)); // Update visual appearances UpdateEffects(); UpdateSound(output); // If we have disabled Jitter we must detect collisions ourselves for test scenarios if (!UseTerrainCollision) { if (IsCollidedWithTerrain()) if (Crashed != null) Crashed(gameTime); } // Handle crashes, user input etc.. that cause the helicopter to reset HandleResetting(gameTime); base.Update(gameTime); }
public void GetState(out PhysicalHeliState estimated, out PhysicalHeliState observed, out PhysicalHeliState blindEstimatedState) { if (!Ready) throw new Exception("Can't call GetNextState() when Ready is false."); estimated = _currentEstimate; observed = _currentObservation; blindEstimatedState = _currentBlindEstimate; }
public void Update(SimulationStepResults trueState, long elapsedMillis, long totalElapsedMillis, JoystickOutput currentOutput) { #if XBOX // TODO Xbox equivalent or fix the GPSINSFilter dependency on Iridium Math.Net _isInitialized = true; #else // TODO If sensors are not ready we cannot produce an estimated state // However, currently the helicopter starts mid-air so we have no time to wait for it to initialize.. so this is cheating. // When the helicopter starts on the ground we can properly implement this process. if (!_isInitialized) { if (!_sensors.Ready) return; _estimated.Position = _initialState.Position; _estimated.Velocity = _initialState.Velocity; _estimated.Acceleration = _initialState.Acceleration; _estimated.Orientation = _initialState.Orientation; _prevGPSPos = _sensors.GPS.Output.Position; _gpsins = new GPSINSFilter( TimeSpan.FromMilliseconds(totalElapsedMillis - elapsedMillis), _initialState.Position, _initialState.Velocity, _initialState.Orientation, _sensors.Specifications); _isInitialized = true; } TimeSpan totalTime = TimeSpan.FromMilliseconds(totalElapsedMillis); // Setup observations var observations = new GPSINSObservation(); observations.Time = totalTime; observations.RangeFinderHeightOverGround = _sensors.GroundRangeFinder.FlatGroundHeight; // TODO Update frequency? Noise? if (_sensors.GPS.IsUpdated) { observations.GotGPSUpdate = true; observations.GPSPosition = _sensors.GPS.Output.Position; observations.GPSHVelocity = _sensors.GPS.Output.Velocity; } // Setup input to filter's internal model var input = new GPSINSInput { AccelerationWorld = _sensors.IMU.AccelerationWorld, Orientation = _sensors.IMU.AccumulatedOrientation, // PitchDelta = _sensors.IMU.AngularDeltaBody.Radians.Pitch, // RollDelta = _sensors.IMU.AngularDeltaBody.Radians.Roll, // YawDelta = _sensors.IMU.AngularDeltaBody.Radians.Yaw, // PitchRate = _sensors.IMU.Output.AngularRate.Radians.Pitch, // RollRate = _sensors.IMU.Output.AngularRate.Radians.Roll, // YawRate = _sensors.IMU.Output.AngularRate.Radians.Yaw, }; // Estimate StepOutput<GPSINSOutput> gpsinsEstimate = _gpsins.Filter(observations, input); // Vector3 deltaPosition = gpsinsEstimate.PostX.Position - _currentEstimate.Position; // if (deltaPosition.Length() > 40) // deltaPosition = deltaPosition; // var trueState = CheatingTrueState.Result; GPSINSOutput observed = gpsinsEstimate.Z; GPSINSOutput estimated = gpsinsEstimate.PostX; GPSINSOutput blindEstimated = gpsinsEstimate.X; _currentEstimate = new PhysicalHeliState(estimated.Orientation, estimated.Position, estimated.Velocity, input.AccelerationWorld); _currentBlindEstimate = new PhysicalHeliState(blindEstimated.Orientation, blindEstimated.Position, blindEstimated.Velocity, input.AccelerationWorld); _currentObservation = new PhysicalHeliState(observed.Orientation, observed.Position, observed.Velocity, Vector3.Zero); #endif }
public abstract void Update(PhysicalHeliState startState, PhysicalHeliState endState, JoystickOutput output, TimeSpan totalSimulationTime, TimeSpan endTime);
public override void Update(PhysicalHeliState startState, PhysicalHeliState endState, JoystickOutput output, TimeSpan startTime, TimeSpan endTime) { _accelerometer.Update(startState, endState, output, startTime, endTime); _gyroscope.Update(startState, endState, output, startTime, endTime); // Make sure we use orientation at start of timestep to transform to world, since IMU should be able to calculate accumulated position // by this world acceleration, and according to my physics simulation the position is calculated before rotation is. AccelerationWorld = _accelerometer.AccelerationWorld; AccelerationLocal = new ForwardRightUp(_accelerometer.Forward, _accelerometer.Right, _accelerometer.Up); AngularRateBody = AngularValues.FromRadians(_gyroscope.Rate); AngularDeltaBody = AngularValues.FromRadians(_gyroscope.Delta); PitchRollYaw delta = AngularDeltaBody.Radians; AccumulatedOrientation = VectorHelper.AddPitchRollYaw(AccumulatedOrientation, delta.Pitch, delta.Roll, delta.Yaw); }
private void InitHelicopters(SunlightParameters skyParameters, NavigationMap heightmap) { // TODO 1 or more helicopters? if (_scenario.HelicopterScenarios == null || _scenario.HelicopterScenarios.Count == 0) throw new Exception("Could not find helicopter scenario."); HelicopterScenario heliScenario = _scenario.HelicopterScenarios[0]; var startVelocity = new Vector3(); //new Vector3(-0.5f, 0, -1.0f) var startState = new PhysicalHeliState( Quaternion.Identity, heliScenario.StartPosition, startVelocity, Vector3.Zero); _helicopter = new HelicopterBase(this, _testConfiguration, _terrainCollision, this, _basicEffect, skyParameters, heliScenario, heliScenario.EngineSound, heliScenario.PlayerControlled, DrawText); // If testing then we will continue to the next waypoint as soon as the true position is within // the radius of the waypoint. If not testing (non-simulated scenarios), we typically want to // progress only if the estimated state is belived to be within the radius. _helicopter.Autopilot.IsTestMode = IsTestMode; _helicopter.Autopilot.IsTruePositionWithinRadius = false; _helicopter.Autopilot.MaxHVelocity = _testMaxHVelocityIter.Current; // Optionally a PID setup may have been provided to use with the helicopters. // If not a default setup is used. if (_initialPIDSetup.HasValue) SetPIDSetup(_initialPIDSetup.Value); // InitFormationHelicopters(startPos, skyParameters); _helicopter.Autopilot.Map = heightmap; }
public void Update(PhysicalHeliState tartState, PhysicalHeliState endState, JoystickOutput output, TimeSpan startTime, TimeSpan endTime) { if (!_isInitialized) { _initStartTime = startTime; _isInitialized = true; } PhysicalHeliState stateToMeasure = endState; // Only update GPS readout as often as SecondsPerUpdate says if (_useUpdateFrequency && startTime < _prevUpdate + TimeSpan.FromSeconds(SecondsPerUpdate)) return; // It takes some time for a GPS to connect and produce positional values if (!Ready && startTime >= _initStartTime + _setupDuration) Ready = true; // Update the GPS information if the device is ready if (Ready) { _prevUpdate = startTime; Vector3 position = stateToMeasure.Position; Vector3 velocity = stateToMeasure.Velocity; if (!_isPerfect) { position += VectorHelper.GaussRandom3(_sensorSpecifications.GPSPositionStdDev); velocity += VectorHelper.GaussRandom3(_sensorSpecifications.GPSVelocityStdDev); } Output = new GPSOutput(position, velocity); } }
private void UpdateStateEstimators(SimulationStepResults simulationState, GameTime gameTime, JoystickOutput output, out PhysicalHeliState estimatedState, out PhysicalHeliState blindEstimatedState, out PhysicalHeliState observedState) { var dtMillis = (long)gameTime.ElapsedGameTime.TotalMilliseconds; var totalMillis = (long)gameTime.TotalGameTime.TotalMilliseconds; // TimeSpan totalSimulationTime = gameTime.TotalGameTime; // Update sensors prior to using the state provider, // because they are typically dependent on the state of the sensors. Sensors.Update(_simulationState, output); // Update states ((SensorEstimatedState)_estimatedStateProvider).CheatingTrueState = simulationState; // TODO Temp cheating _estimatedStateProvider.Update(simulationState, dtMillis, totalMillis, output); // TODO Separate physical and navigational states _estimatedStateProvider.GetState(out estimatedState, out observedState, out blindEstimatedState); }
public void Reset(TimeSpan totalGameTime, HelicopterScenario scenario, NavigationMap heightmap) { Console.WriteLine(@"Resetting helicopter."); _scenario = scenario; // TODO We would rather want to do Autopilot.Reset() than this fugly code Autopilot.IsAtDestination = false; Autopilot = Autopilot.Clone(); Autopilot.Task = scenario.Task.Clone(); Autopilot.Map = heightmap; Vector3 startPosition = scenario.StartPosition; Vector3 startVelocity = Vector3.Zero; Vector3 startAcceleration = Vector3.Zero; Quaternion startOrientation = Quaternion.Identity; if (Task.HoldHeightAboveGround > 0) startPosition.Y = Autopilot.Map.GetAltitude(VectorHelper.ToHorizontal(startPosition)) + Task.HoldHeightAboveGround; var startPhysicalState = new PhysicalHeliState( startOrientation, startPosition, startVelocity, startAcceleration); var initialState = new SimulationStepResults(startPhysicalState, totalGameTime); _physicalState = startPhysicalState; // Re-create the state provider when resetting because some sensors will have to re-initialize. _physics = new HeliPhysics(_collision, UseTerrainCollision); _sensors = new SensorModel(_sensorSpecifications, Autopilot.Map, startPosition, startOrientation); _perfectStateProvider = new PerfectState(); _estimatedStateProvider = new SensorEstimatedState(_sensors, startPhysicalState); // Wait for state to become stable. // while (!_perfectStateProvider.Ready) // { // TODO GPS will require N seconds of startup time // _perfectStateProvider.Update(initialState, 0, 0, new JoystickOutput()); // Sensors.Update(initialState, new JoystickOutput()); // Thread.Sleep(100); // } // When resetting, use perfect state as starting point. // TODO It should not be necessary to create this waypoint since it should never be used for navigation! Delete if safe. // Use start position and start orientation instead. const float defaultWaypointRadius = 5; var startWaypoint = new Waypoint(startPosition, 0, WaypointType.Intermediate, defaultWaypointRadius); _trueState = StateHelper.ToHeliState(startPhysicalState, GetHeightAboveGround(startPhysicalState.Position), startWaypoint, new JoystickOutput()); _estimatedState = _trueState; Log.Clear(); }
public void Update(SimulationStepResults step, JoystickOutput output) { // TODO Use substeps in physics simulation when sensors require higher frequency than the main-loop runs at // Currently we simply use the state at the start of the timestep to feed into the sensors, so they read the state // that was before any motion took place in that timestep. // Later we may need to update sensors multiple times for each timestep. TimestepStartingCondition start = step.StartingCondition; TimestepResult end = step.Result; var startPhysicalState = new PhysicalHeliState(start.Orientation, start.Position, start.Velocity, start.Acceleration); var endPhysicalState = new PhysicalHeliState(end.Orientation, end.Position, end.Velocity, new Vector3(float.NaN)); // Update all sensors foreach (ISensor sensor in _sensors) sensor.Update(startPhysicalState, endPhysicalState, output, step.StartTime, step.EndTime); }