/// <summary>
/// Create a new FlightSimulator object
/// </summary>
/// <param name="aircraft">The aircraft that will be used in the simulation</param>
/// <param name="endPoint">The position the aircraft will fly towards</param>
/// <param name="numberOfSegments">The number of segments used in the simulation. The simulation starts and ends with a straight segment, so the number of segments should be odd.</param>
/// <param name="settings">The control parameters, which are a list of doubles between 0 and 1. The number of controls needed for any number of segments can be calculated by calling TrajectoryChromosome.ChromosomeLength().</param>
public FlightSimulator(ISimulatorModel aircraft, Point3D endPoint, int numberOfSegments, List <double> settings, TrajectoryGenerator trajectoryGenerator)
{
_trajectoryGenerator = trajectoryGenerator;
_settings = settings;
_vertical_state = VERTICAL_STATE.TAKEOFF;
_aircraft = aircraft;
_speed = 160;
_x = 0;
_y = 0;
_heading = Math.PI / 2;
_endPoint = endPoint;
_numberOfSegments = numberOfSegments;
_segmentIndex = 1;
}
protected void OneTrajectoryINM()
{
var aircraft = new Aircraft("GP7270", "wing");
var trajectoryGenerator = new TrajectoryGenerator(aircraft, referencePoint);
if (_view.TrajectoryFile.Contains("."))
{
var reader = new TrajectoryFileReader(CoordinateUnit.metric, trajectoryGenerator);
trajectory = reader.CreateTrajectoryFromFile(_view.TrajectoryFile);
}
trajectory.Aircraft = aircraft;
noiseModel = new IntegratedNoiseModel(trajectory, aircraft);
bool integrateToCurrentPosition = true;
int metric = 0;
switch (_view.NoiseMetric)
{
case 0:
metric = 1;
integrateToCurrentPosition = false;
break;
case 1:
metric = 1;
break;
case 2:
metric = 0;
break;
case 3:
metric = 2;
break;
case 4:
metric = 3;
break;
}
noiseModel.IntegrateToCurrentPosition = integrateToCurrentPosition;
noiseModel.NoiseMetric = metric;
noiseModel.StartCalculation(ProgressChanged);
temporalGrid = noiseModel.TemporalGrid;
_view.Invoke(delegate { _view.NoiseCalculationCompleted(); });
}
private void Test_Load(object sender, EventArgs e)
{
var aircraft = new Aircraft("GP7270", "wing");
var generator = new TrajectoryGenerator(aircraft, new ReferencePointRD());
var reader = new TrajectoryFileReader(CoordinateUnit.metric, generator);
var trajectory = reader.CreateTrajectoryFromFile(Globals.currentDirectory + "track_schiphol.dat");
for (int t = 0; t < trajectory.Duration; t++)
{
chartGroundPath.Series["Groundpath"].Points.AddXY(trajectory.Longitude(t), trajectory.Latitude(t));
}
AutoScaleChart(chartGroundPath);
chartGroundPath.ChartAreas[0].AxisY.LabelStyle.Format = "{0.00}";
chartGroundPath.ChartAreas[0].AxisX.LabelStyle.Format = "{0.00}";
chartGroundPath.Series["Groundpath"].ChartType = SeriesChartType.FastLine;
for (int t = 0; t < trajectory.Duration; t++)
{
chartAltitude.Series["Altitude [m]"].Points.AddXY(t, trajectory.Z(t));
}
chartAltitude.Series["Altitude [m]"].ChartType = SeriesChartType.FastLine;
/*
* var reader = new TrajectoryFileReader(CoordinateUnit.metric);
* trajectory = reader.createTrajectoryFromFile(Globals.currentDirectory + "track_schiphol.dat");
*
* aircraft = new Aircraft("GP7270", "wing");
* noiseModel = new IntegratedNoiseModel(trajectory, aircraft);
* noiseModel.StartCalculation(progressChanged);
*
* var legend = new LegendCreator();
* legend.OutputLegendImage();
* legend.OutputLegendTitle();
*
* TemporalGrid temporalGrid = noiseModel.TemporalGrid;
* //temporalGrid.LowerLeftCorner = new Point3D(104062, 475470, 0, CoordinateUnit.metric);
* //temporalGrid.GridSize = 125;
*
* var population = new PopulationData(Globals.currentDirectory + "population.dat");
*
* var camera = new FollowKMLAnimatorCamera(aircraft, trajectory);
* var sections = new List<KMLAnimatorSectionInterface>() {
* new LegendKMLAnimator(),
* new AircraftKMLAnimator(aircraft, trajectory),
* new AirplotKMLAnimator(trajectory),
* new GroundplotKMLAnimator(trajectory),
* new ContourKMLAnimator(temporalGrid, trajectory, new List<int>() { 65, 70, 75 }),
* new AnnoyanceKMLAnimator(temporalGrid, population.getPopulationData())
* };
* var animator = new KMLAnimator(sections, camera);
* animator.AnimationToFile(trajectory.Duration, Globals.currentDirectory + "test.kml");
*
* GoogleEarthServerForm googleEarthForm = new GoogleEarthServerForm();
*
* this.Hide();
* googleEarthForm.Closed += (s, args) => this.Close();
* googleEarthForm.Show();
*/
}
public Form1()
{
InitializeComponent();
//Create a list of waypoints
List <Pose2d> waypoints = new List <Pose2d>(3);
waypoints.Add(new Pose2d(new Translation2d(0, 0), Rotation2d.fromDegrees(0)));
waypoints.Add(new Pose2d(new Translation2d(100, 20), Rotation2d.fromDegrees(0)));
waypoints.Add(new Pose2d(new Translation2d(254.8, 50.87), Rotation2d.fromDegrees(45)));
// For a reversed trajectory
List <Pose2d> waypoints_maybe_flipped = waypoints;
Pose2d flip = Pose2d.fromRotation(new Rotation2d(-1, 0, false));
if (false)
{
waypoints_maybe_flipped = new List <Pose2d>(waypoints.Count);
for (int i = 0; i < waypoints.Count; ++i)
{
waypoints_maybe_flipped.Add(waypoints[i].transformBy(flip));
}
}
//Create a list of splines between each pair of waypoints
List <QuinticSpline> splines = new List <QuinticSpline>(waypoints.Count - 1);
for (int i = 1; i < waypoints.Count; ++i)
{
splines.Add(new QuinticSpline(waypoints[i - 1], waypoints[i]));
}
//Doesnt do much for simple curves
//Optimize spline based on curvature
QuinticSpline.optimizeSpline(ref splines);
Console.WriteLine("Spline Unsegmented");
foreach (QuinticSpline S in splines)
{
for (double t = 0; t <= 1; t += 1 / 100.0)
{
Console.WriteLine(S.getPoint(t).x() + " , " + S.getPoint(t).y() + " , " + S.getHeading(t).getDegrees());
}
}
Console.WriteLine("Spline Combined and Segmented");
//Create the untimed trajectory (Splines into segment generator)
UntimedTrajectory trajectory = new UntimedTrajectory(SegmentedSplineGenerator.parameterizeSplines(splines));
for (int i = 0; i < trajectory.length(); i++)
{
double x = trajectory.getState(i).getTranslation().x();
double y = trajectory.getState(i).getTranslation().y();
double theta = trajectory.getState(i).getRotation().getDegrees();
double curvature = trajectory.getState(i).getCurvature();
double dCurvatureDs = trajectory.getState(i).getDCurvatureDs();
Console.WriteLine(i + " , " + x + " , " + y + " , " + theta + " , " + curvature + " , " + dCurvatureDs);
}
//For a reversed trajectory
if (false)
{
List <Pose2dWithCurvature> flipped = new List <Pose2dWithCurvature>(trajectory.length());
for (int i = 0; i < trajectory.length(); ++i)
{
flipped.Add(new Pose2dWithCurvature(trajectory.getState(i).getPose().transformBy(flip),
-trajectory.getState(i).getCurvature(), trajectory.getState(i).getDCurvatureDs()));
}
trajectory = new UntimedTrajectory(flipped);
}
Console.WriteLine("Trajectory");
TrajectoryContainer final_trajectory = TrajectoryGenerator.parameterizeTrajectory(false, trajectory, 2.0, 0.0, 0.0, 120.0, 120.0, 24.0, 20);
final_trajectory.setDefaultVelocity(72.0 / 150.0);
for (int i = 0; i < final_trajectory.length(); i++)
{
double x = final_trajectory.getState(i).get_state().getTranslation().x();
double y = final_trajectory.getState(i).get_state().getTranslation().y();
double position = Math.Sqrt(x * x + y * y);
double theta = final_trajectory.getState(i).get_state().getRotation().getDegrees();
double time = final_trajectory.getState(i).get_t();
double velocity = final_trajectory.getState(i).get_velocity();
double accel = final_trajectory.getState(i).get_acceleration();
Console.WriteLine(time + " , " + position + " , " + velocity + " , " + accel);
}
}
private void TopView_Load(object sender, EventArgs e)
{
// Parse the file containing multiple trajectories
string rawTrackData = File.ReadAllText(Globals.currentDirectory + "inbound.txt");
var _trackData = rawTrackData
.Split('\n')
.Select(q =>
q.Split(new[] { "," }, StringSplitOptions.RemoveEmptyEntries)
.Select(Convert.ToString)
.ToArray()
)
.ToArray();
// Define variables
string flight_id = "";
var trajectories = new List <Trajectory>();
ReferencePoint referencePoint = new ReferencePoint(new GeoPoint3D(4.7066753, 52.3297923));
TrajectoryGenerator trajectoryGenerator = new TrajectoryGenerator(new Aircraft("GP7270", "wing"), referencePoint);
// Loop through the positions of all trajectories
for (int i = 0; i < _trackData.Length; i++)
{
// Switch to the next trajectory
if (i == _trackData.Length - 1 || (_trackData[i][0] != flight_id && i > 0))
{
trajectories.Add(trajectoryGenerator.GenerateTrajectory());
// Prepare next trajectory
var aircraft = new Aircraft("GP7270", "wing");
trajectoryGenerator = new TrajectoryGenerator(aircraft, referencePoint);
}
// Prevent failing on empty lines
if (_trackData[i].Count() == 0)
{
continue;
}
flight_id = _trackData[i][0];
// Parse the next position of the current trajectory
//DateTime t = DateTime.Parse(_trackData[i][14]);
double x = 0;
double.TryParse(_trackData[i][4], out x);
double y = 0;
double.TryParse(_trackData[i][5], out y);
double z = 0;
double.TryParse(_trackData[i][6], out z);
z = z * 0.3040 * 100;
trajectoryGenerator.AddDatapoint(x, y, z, 200, 200000);
}
// Calculate the noise for each trajectory
TemporalGrid temporalGrid = new TemporalGrid();
int counter = 0;
foreach (Trajectory trajectory in trajectories)
{
counter++;
Console.WriteLine(counter);
if (counter > 15)
{
break;
}
var INM = new IntegratedNoiseModel(trajectory, trajectory.Aircraft);
INM.RunINMFullTrajectory();
Grid grid = INM.TemporalGrid.GetGrid(0);
Console.WriteLine(grid.LowerLeftCorner.X);
Console.WriteLine(grid.LowerLeftCorner.Y);
grid.ReferencePoint = referencePoint;
temporalGrid.AddGrid(grid);
}
var camera = new TopViewKMLAnimatorCamera(new GeoPoint3D(4.7066753, 52.3297923, 22000));
var sections = new List <KMLAnimatorSectionInterface>()
{
new ContourKMLAnimator(temporalGrid),
new MultipleGroundplotKMLAnimator(trajectories)
};
var animator = new KMLAnimator(sections, camera);
animator.Duration = 0;
animator.AnimationToFile(temporalGrid.GetNumberOfGrids(), Globals.currentDirectory + "topview_fullpath.kml");
}
public double Evaluate(IChromosome chromosome)
{
try
{
var trajectoryChromosome = (TrajectoryChromosome)chromosome;
var aircraft = new Boeing747_400();
var settings = new List <double>();
for (int i = 0; i < chromosome.Length; i++)
{
settings.Add((double)chromosome.GetGene(i).Value);
}
var startPoint = ReferencePoint.GeoPoint;
var start = new GeoCoordinate(startPoint.Latitude, startPoint.Longitude);
var endDLong = new GeoCoordinate(startPoint.Latitude, GeoEndPoint.Longitude);
double xDistance = start.GetDistanceTo(endDLong);
if (start.Longitude > GeoEndPoint.Longitude)
{
xDistance = -xDistance;
}
var endDLat = new GeoCoordinate(GeoEndPoint.Latitude, startPoint.Longitude);
double yDistance = start.GetDistanceTo(endDLat);
if (start.Latitude > GeoEndPoint.Latitude)
{
yDistance = -yDistance;
}
var endPoint = new Point3D(xDistance, yDistance);
var trajectoryGenerator = new TrajectoryGenerator(new Aircraft("PW4056", "wing"), ReferencePoint);
FlightSimulator = new FlightSimulator(aircraft, endPoint, trajectoryChromosome.NumberOfSegments, settings, trajectoryGenerator);
FlightSimulator._speed = TakeoffSpeed;
FlightSimulator._heading = TakeoffHeading * Math.PI / 180;
var time = DateTime.Now;
FlightSimulator.Simulate();
/* INTERNAL NOISE */
/*
* var grid = FlightSimulator.NoiseMaxGrid;
* //Console.WriteLine("calculated:"+grid.Data[159][159]);
* double[][] noiseDataGrid = grid.Data;
* var color = new Models.ColorMap();
* var cmap = color.Custom(noiseDataGrid);
* Bitmap b = new Bitmap(200, 200);
* LockBitmap l = new LockBitmap(b);
* l.LockBits();
* for (int x = 0; x < noiseDataGrid.Length - 1; x++)
* {
* for (int y = 0; y < noiseDataGrid[0].Length - 1; y++)
* {
* l.SetPixel(x, y, Color.FromArgb(Math.Max(0,cmap[x, y, 0]), Math.Max(cmap[x, y, 1],0), Math.Max(cmap[x,y,2], 0)));
* }
* }
* l.UnlockBits();
* b.Save(@"noise.png", ImageFormat.Png);
*/
/*
* TemporalGrid temporalGrid = noiseModel.TemporalGrid;
* GridConverter converter = new GridConverter(temporalGrid, GridTransformation.MAX);
* Grid last = converter.transform().GetGrid(temporalGrid.GetNumberOfGrids() - 1);
*/
/* POPULATION */
var trajectory = FlightSimulator.CreateTrajectory();
double boundary = 2000;
int width = (int)(trajectory.UpperRightPoint.X - trajectory.LowerLeftPoint.X + boundary + boundary) / 125;
int height = (int)(trajectory.UpperRightPoint.Y - trajectory.LowerLeftPoint.Y + boundary + boundary) / 125;
Point3D shiftedLeftPoint = new Point3D(trajectory.LowerLeftPoint.X - boundary, trajectory.LowerLeftPoint.Y - boundary);
Grid populationGrid = Grid.CreateEmptyGrid(height, width, shiftedLeftPoint, ReferencePoint, 125);
PopulationData.FillGrid(populationGrid);
var noiseDataGrid = populationGrid.Data;
var color = new Models.ColorMap();
var cmap = color.Custom(noiseDataGrid);
var b = new Bitmap(noiseDataGrid.Length, noiseDataGrid[0].Length);
var l = new LockBitmap(b);
l.LockBits();
for (int x = 0; x < noiseDataGrid.Length - 1; x++)
{
for (int y = 0; y < noiseDataGrid[0].Length - 1; y++)
{
int y_c = noiseDataGrid[0].Length - y - 1;
l.SetPixel(x, y_c, Color.FromArgb(Math.Max(0, cmap[x, y, 0]), Math.Max(cmap[x, y, 1], 0), Math.Max(cmap[x, y, 2], 0)));
}
}
l.UnlockBits();
b.Save("Population.png", ImageFormat.Png);
/* INM */
var INMaircraft = new Aircraft("GP7270", "wing");
var noiseModel = new IntegratedNoiseModel(trajectory, INMaircraft);
noiseModel.UsePopulationGrid(populationGrid, 100);
noiseModel.NoiseMetric = 0;
Console.WriteLine("INM started");
noiseModel.RunINMFullTrajectory();
Console.WriteLine("INM completed");
long awoken = 0;
List <double[]> PopulatedAreaNoise = noiseModel.PopulatedAreaNoise;
foreach (double[] pair in PopulatedAreaNoise)
{
//Console.WriteLine(pair[0] + " " + pair[1]);
if (pair[1] <= 50.5)
{
continue;
}
awoken += (int)(pair[0] * 0.01 * (0.0087 * Math.Pow(pair[1] - 50.5, 1.79)));
}
Console.WriteLine(awoken + " people woke up :(");
/*
* //Console.WriteLine("INM:" + noiseModel.TemporalGrid.GetGrid(0).Data[160][160]);
* noiseDataGrid = noiseModel.TemporalGrid.GetGrid(0).Data;
* cmap = color.Custom(noiseDataGrid);
* b = new Bitmap(noiseDataGrid.Length, noiseDataGrid[0].Length);
* l = new LockBitmap(b);
* l.LockBits();
* for (int x = 0; x < noiseDataGrid.Length - 1; x++)
* {
* for (int y = 0; y < noiseDataGrid[0].Length - 1; y++)
* {
* int y_c = noiseDataGrid[0].Length - y - 1;
* l.SetPixel(x, y_c, Color.FromArgb(Math.Max(0,cmap[x, y, 0]), Math.Max(cmap[x, y, 1],0), Math.Max(cmap[x,y,2], 0)));
* }
* }
* l.UnlockBits();
* b.Save("INM.png", ImageFormat.Png);
*/
Console.WriteLine(DateTime.Now.Subtract(time).TotalMilliseconds + "msec");
double fitness;
if (OptimiseFuel)
{
fitness = FlightSimulator.fuel;
}
else
{
/*
* Grid noiseMax = noiseModel.TemporalGrid.GetGrid(0);
* double sum = 0;
* for (int c = 0; c < noiseMax.Data.Length; c++)
* {
* for (int r = 0; r < noiseMax.Data[0].Length; r++)
* {
* sum += noiseMax.Data[c][r];
* }
* }
* return int.MaxValue - sum;
*/
fitness = awoken;
}
trajectory.Fitness = fitness;
if (trajectories == null)
{
trajectories = new List <Trajectory>();
}
trajectories.Add(trajectory);
Best = (int)Math.Max(Best, fitness);
return(int.MaxValue - fitness);
} catch (Exception ex)
{
Console.WriteLine("Evaluation exception");
return(int.MaxValue);
}
}
/// <summary>
/// Generations trajectory station data.
/// </summary>
/// <param name="numOfStations">The number of stations.</param>
/// <param name="startMd">The start md.</param>
/// <param name="mdUom">The MD index uom.</param>
/// <param name="tvdUom">The Tvd uom.</param>
/// <param name="angleUom">The angle uom.</param>
/// <param name="inCludeExtra">True if to generate extra information for trajectory station.</param>
/// <returns>The trajectoryStation collection.</returns>
public List <TrajectoryStation> TrajectoryStations(int numOfStations, double startMd, MeasuredDepthUom mdUom = MdUom, WellVerticalCoordinateUom tvdUom = TvdUom, PlaneAngleUom angleUom = AngleUom, bool inCludeExtra = false)
{
return(TrajectoryGenerator.GenerationStations(numOfStations, startMd, mdUom, tvdUom, angleUom, inCludeExtra));
}
