Control System Packer is a lightweight, low-level program to transform energy equations into the compact libraries for control systems.

Overview

Control System Packer

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Reliability Rating Version Licence

Control System Packer is a lightweight, low-level program to transform energy equations into the compact libraries for control systems. Packer supports Python 🐍 , C 💻 and C++ 💻 libraries.

Table of Contents

Features

  • Input the energy equations and get a compact library for the chosen language.
  • Parametrize the system for usage with different parameters
  • Get a control system out of robot's physical equations

Our goal is to make the lives of robotics developers easier, so you can just type in the energy equations and obtain ready-to-use libraries. You can import them straight away into the robot for the control!

Why is our project useful and better than the existing solutions?

  • Our system works with any mechanical model. Every model has it's own general positions and energy equations.
  • Most of the programmers used to code and transform these equations manually, there was no popular tool to solve this issue.
  • Complex control tasks are done in high-level PLs (such as Python), but low-level computers usually work this C or C++. We provide fast and easy transition from Python to C or C++.

Supported languages

Packer now supports 2 types of the language libraries:

  • Python - Python libraries
  • C++ - C++ libraries
  • C - C headers

Getting Started

Cloning a repository

  1. Open the command line interface
  2. Using the command line, access a folder in which you want your project to be saved
  3. Type in:
git clone https://github.com/mirnanoukari/Control-System-Packer.git

Installing the package

You can install the package from our branch symbolical-dynamics/lib/dir by running the command:

sudo python3 setup.py develop # for Linux
python3 setup.py develop # for Windows

Importing phase

Python

Then, you need to import Mechanicalsystem class from euler_lagrange to your mechanical system, use one of our examples in the example folder

from lib.symbolical_dynamics.euler_lagrange import MechanicalSystem

Intialization of your system

name_of_your_system = MechanicalSystem(q,K,P,R)
  • q (generalized coordinates)
  • K (kinetic energy)
  • P (potential energy)
  • R (rayleigh dissipative function)

Or you can assign values to your mechanical system using set functions:

name_of_your_system = MechanicalSystem(q)
name_of_your_system.set_kinetic_energy(K)
name_of_your_system.set_potential_energy(P)
name_of_your_system.set_rayleigh(R)

Getting lagrange equations

name_of_your_system.get_lagrange_equations(simp=True)

The model then produces an equation, and results a combined terms of potential energy and inertia matrix.

Great! Now, your system is initialized with values. You can use them both in Python, C and C++ Below we present the usage of both cases.

print(f'\nEquations of motion:\n{name_of_your_system.Q}')
print(f'\nInertia matrix:\n{name_of_your_system.D}')
print(f'\nGeneralized momenta:\n{name_of_your_system.p}')

C

First of all, we should generate headers from Python code:

name_of_your_system.get_headers()

Now you can simply import these headers, and use built-in functions to find exact value for any numerical arguments:

int main(void) { numerical_combined(2,3,4,5,6,7,8,9,0,12,21,result); // Example of usage of generated headers printf("%d", result[0]) return 0; } ">
#include "numerical_combined.h"
#include <stdio.h>
int main(void) {
   numerical_combined(2,3,4,5,6,7,8,9,0,12,21,result);  // Example of usage of generated headers
   printf("%d", result[0])
   return 0;
}

C++

In your python file, set create_cpp to True and generate an optional cpp class file (euler_lagrange.cpp) which will include all our headers in it:

numerical_combined.get_headers(create_cpp=True)

The file euler_lagrange.cpp will contain ready-to-use functions and you can import it in your code:

#include "euler_lagrange.cpp"

Development

Want to contribute? Check out our contribution policy

Technical stack

Glossary

Packer - a program that allows you to turn input (energy equations) into compact libraries for various programming languages.

Control system - a system, which provides the desired response by controlling the output.

Header - a file containing C language declarations and macro definitions to be shared between several source files.

Library - a collection of non-volatile resources used by computer programs for software development.

Energy equations - potential and kinetic energies equations in symbolic format.

Method of Lagrange multipliers - strategy for finding the local maxima and minima of a function subject to equality constraints.

Further Development

At the moment, the development of a reverse conversion to Python is underway, using cython and the PyBind library. It is planned to compare the execution speeds of methods in C ++ and in Python.

License

MIT

Free Software, Hell Yeah!

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Comments
Releases(v.1.0.0)
  • v.1.0.0(Sep 28, 2021)

    We are ready to announce our first release! Refer to the project description in the README.md file.
    Be free to leave the feedback on the current version to help us grow!

    Source code(tar.gz)
    Source code(zip)
Owner
mirnanoukari
mirnanoukari
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