fix what I deleted earlier, how workas before but will improve it

Author: AbubakarAliyuBadawi

guidance/guidance_los/guidance_los/los_guidance_algorithm.py

@@ -1,7 +1,40 @@
 from dataclasses import dataclass, field
 
 import numpy as np
-from vortex_utils.python_utils import State, ssa
+
+
+@dataclass
+class State:
+    x: float = 0.0
+    y: float = 0.0
+    z: float = 0.0
+    pitch: float = 0.0
+    yaw: float = 0.0
+    surge_vel: float = 0.0
+
+    def __add__(self, other: "State") -> "State":
+        return State(
+            x=self.x + other.x,
+            y=self.y + other.y,
+            z=self.z + other.z,
+            pitch=self.pitch + other.pitch,
+            yaw=self.yaw + other.yaw,
+        )
+
+    def __sub__(self, other: "State") -> "State":
+        return State(
+            x=self.x - other.x,
+            y=self.y - other.y,
+            z=self.z - other.z,
+            pitch=self.pitch - other.pitch,
+            yaw=self.yaw - other.yaw,
+        )
+
+    def as_los_array(self):
+        return np.array([self.surge_vel, self.pitch, self.yaw])
+    
+    def as_pos_array(self):
+        return np.array([self.x, self.y, self.z])
 
 
 @dataclass(slots=True)
@@ -56,6 +89,44 @@ def __init__(self, los_params: LOSParameters, filter_params: FilterParameters):
         self.setup_filter_matrices()
         self.lookahead_h = 2.0
         self.lookahead_v = 2.0
+        self.kappa = 0.001
+
+    @staticmethod
+    def quaternion_to_euler_angle(w: float, x: float, y: float, z: float) -> tuple:
+        """Function to convert quaternion to euler angles.
+
+        Parameters:
+            w: float: w component of quaternion
+            x: float: x component of quaternion
+            y: float: y component of quaternion
+            z: float: z component of quaternion
+
+        Returns:
+            phi: float: roll angle
+            theta: float: pitch angle
+            psi: float: yaw angle
+
+        """
+        y_square = y * y
+
+        t0 = +2.0 * (w * x + y * z)
+        t1 = +1.0 - 2.0 * (x * x + y_square)
+        phi = np.arctan2(t0, t1)
+
+        t2 = +2.0 * (w * y - z * x)
+        t2 = +1.0 if t2 > +1.0 else t2
+        t2 = -1.0 if t2 < -1.0 else t2
+        theta = np.arcsin(t2)
+
+        t3 = +2.0 * (w * z + x * y)
+        t4 = +1.0 - 2.0 * (y_square + z * z)
+        psi = np.arctan2(t3, t4)
+
+        return phi, theta, psi
+
+    @staticmethod
+    def ssa(angle: float) -> float:
+        return (angle + np.pi) % (2 * np.pi) - np.pi
 
     def setup_filter_matrices(self):
         omega = np.diag(self.filter_params.omega_diag)
@@ -75,23 +146,21 @@ def setup_filter_matrices(self):
         self.Bd[6:9, :] = omega_cubed
 
     def compute_raw_los_guidance(self, current_pos: State, target_pos: State) -> State:
-        dx = target_pos.pose.x - current_pos.pose.x
-        dy = target_pos.pose.y - current_pos.pose.y
+        dx = target_pos.x - current_pos.x
+        dy = target_pos.y - current_pos.y
 
         self.horizontal_distance = np.sqrt(dx**2 + dy**2)
         desired_yaw = np.arctan2(dy, dx)
-        yaw_error = ssa(desired_yaw - current_pos.pose.yaw)
+        yaw_error = self.ssa(desired_yaw - current_pos.yaw)
 
-        depth_error = target_pos.pose.z - current_pos.pose.z
+        depth_error = target_pos.z - current_pos.z
         desired_pitch = self.compute_pitch_command(
             depth_error, self.horizontal_distance
         )
 
         desired_surge = self.compute_desired_speed(yaw_error, self.horizontal_distance)
-        commands = State()
-        commands.twist.linear_x = desired_surge
-        commands.pose.pitch = desired_pitch
-        commands.pose.yaw = desired_yaw
+
+        commands = State(surge_vel=desired_surge, pitch=desired_pitch, yaw=desired_yaw)
 
         return commands
 
@@ -110,125 +179,88 @@ def compute_pitch_command(
             self.los_params.max_pitch_angle,
         )
 
-    def compute_desired_speed(
-        self, yaw_error: float, distance_to_target: float
-    ) -> float:
-        """Compute speed command with yaw and distance-based scaling."""
+    def compute_desired_speed(self, yaw_error: float, distance_to_target: float, crosstrack_y: float) -> float:
+        """
+        Compute speed command with yaw error, distance and crosstrack-based scaling.
+        
+        Args:
+            yaw_error: Error in yaw angle (radians)
+            distance_to_target: Distance to target (meters)
+            crosstrack_y: Cross-track error in y direction (meters)
+        """
         yaw_factor = np.cos(yaw_error)
-        distance_factor = min(
-            1.0, distance_to_target / self.los_params.lookahead_distance_max
-        )
-        desired_speed = self.los_params.nominal_speed * yaw_factor * distance_factor
+        distance_factor = min(1.0, distance_to_target / self.los_params.lookahead_distance_max)
+        crosstrack_factor = 1.0 / (1.0 + abs(crosstrack_y))
+        desired_speed = self.los_params.nominal_speed * yaw_factor * distance_factor * crosstrack_factor
         return max(self.los_params.min_speed, desired_speed)
 
     def apply_reference_filter(self, commands: State) -> State:
-        los_array = self.state_to_los_array(commands)
-        x_dot = self.Ad @ self.x + self.Bd @ los_array
+        x_dot = self.Ad @ self.x + self.Bd @ commands.as_los_array()
         self.x = self.x + x_dot * self.los_params.dt
-
-        commands.twist.linear_x = self.x[0]
-        commands.pose.pitch = self.x[1]
-        commands.pose.yaw = self.x[2]
-
-        return commands
+        return State(surge_vel=self.x[0], pitch=self.x[1], yaw=self.x[2])
 
     def compute_guidance(self, current_pos: State, target_pos: State) -> State:
         raw_commands = self.compute_raw_los_guidance(current_pos, target_pos)
 
         filtered_commands = self.apply_reference_filter(raw_commands)
-        filtered_commands.pose.pitch = ssa(filtered_commands.pose.pitch)
-        filtered_commands.pose.yaw = ssa(filtered_commands.pose.yaw)
+        filtered_commands.pitch = self.ssa(filtered_commands.pitch)
+        filtered_commands.yaw = self.ssa(filtered_commands.yaw)
         return filtered_commands
 
     def reset_filter_state(self, current_state: State) -> None:
         self.x = np.zeros(9)
-        current_state_array = self.state_to_los_array(current_state)
+        current_state_array = np.array(current_state.as_los_array(), copy=True)
         self.x[0:3] = current_state_array
 
-    @staticmethod
-    def state_to_los_array(state: State) -> np.ndarray:
-        """Converts State object to array with surge velocity, pitch, and yaw."""
-        return np.array([state.twist.linear_x, state.pose.pitch, state.pose.yaw])
-
-    @staticmethod
-    def state_as_pos_array(state: State) -> np.ndarray:
-        """Converts State object to array with x, y, z."""
-        return np.array([state.pose.x, state.pose.y, state.pose.z])
-
     @staticmethod
     def compute_pi_h(current_waypoint: State, next_waypoint: State) -> float:
-        dx = next_waypoint.pose.x - current_waypoint.pose.x
-        dy = next_waypoint.pose.y - current_waypoint.pose.y
+        dx = next_waypoint.x - current_waypoint.x
+        dy = next_waypoint.y - current_waypoint.y
         return np.arctan2(dy, dx)
-
+    
     @staticmethod
     def compute_pi_v(current_waypoint: State, next_waypoint: State) -> float:
-        dz = next_waypoint.pose.z - current_waypoint.pose.z
-        horizontal_distance = np.sqrt(
-            (next_waypoint.pose.x - current_waypoint.pose.x) ** 2
-            + (next_waypoint.pose.y - current_waypoint.pose.y) ** 2
-        )
+        dz = next_waypoint.z - current_waypoint.z
+        horizontal_distance = np.sqrt((next_waypoint.x - current_waypoint.x)**2 + (next_waypoint.y - current_waypoint.y)**2)
         return np.arctan2(-dz, horizontal_distance)
-
+    
     @staticmethod
     def compute_rotation_y(pi_v: float) -> np.ndarray:
-        return np.array(
-            [
-                [np.cos(pi_v), 0, np.sin(pi_v)],
-                [0, 1, 0],
-                [-np.sin(pi_v), 0, np.cos(pi_v)],
-            ]
-        )
-
+        return np.array([
+            [np.cos(pi_v), 0, np.sin(pi_v)],
+            [0, 1, 0],
+            [-np.sin(pi_v), 0, np.cos(pi_v)]
+        ])
+    
     @staticmethod
     def compute_rotation_z(pi_h: float) -> np.ndarray:
-        return np.array(
-            [
-                [np.cos(pi_h), -np.sin(pi_h), 0],
-                [np.sin(pi_h), np.cos(pi_h), 0],
-                [0, 0, 1],
-            ]
-        )
-
-    def compute_psi_d(
-        self,
-        current_waypoint: State,
-        next_waypoint: State,
-        crosstrack_y: float,
-        beta_c: float,
-    ) -> float:
+        return np.array([
+            [np.cos(pi_h), -np.sin(pi_h), 0],
+            [np.sin(pi_h), np.cos(pi_h), 0],
+            [0, 0, 1]
+        ])
+    
+    def compute_psi_d(self, current_waypoint: State, next_waypoint: State, crosstrack_y: float, y_int: float) -> float:
         pi_h = self.compute_pi_h(current_waypoint, next_waypoint)
-        psi_d = pi_h - np.arctan(crosstrack_y / self.lookahead_h) - beta_c
-        psi_d = ssa(psi_d)
+        psi_d = pi_h - np.arctan((crosstrack_y + self.kappa) / self.lookahead_h)
+        psi_d = self.ssa(psi_d)
         return psi_d
-
-    def compute_theta_d(
-        self,
-        current_waypoint: State,
-        next_waypoint: State,
-        crosstrack_z: float,
-        alpha_c: float,
-    ) -> float:
+    
+    def compute_theta_d(self, current_waypoint: State, next_waypoint: State, crosstrack_z: float, alpha_c: float) -> float:
         pi_v = self.compute_pi_v(current_waypoint, next_waypoint)
         theta_d = pi_v + np.arctan(crosstrack_z / self.lookahead_v) + alpha_c
-        theta_d = ssa(theta_d)
+        theta_d = self.ssa(theta_d)
         return theta_d
 
     @staticmethod
     def calculate_alpha_c(u: float, v: float, w: float, phi: float) -> float:
-        if u == 0:
-            return 0
-        return np.arctan(
-            (v * np.sin(phi) + w * np.cos(phi)) / u
-        )  # Slide 104 in Fossen 2024
-
+        return np.arctan((v * np.sin(phi) + w * np.cos(phi)) / u) # Slide 104 in Fossen 2024
+    
     @staticmethod
-    def calculate_beta_c(
-        u: float, v: float, w: float, phi: float, theta: float, alpha_c: float
-    ) -> float:
-        u_v = u * np.sqrt(1 + np.tan(alpha_c) ** 2)
-        if u_v == 0:
-            return 0
-        return np.arctan(
-            (v * np.cos(phi) - w * np.sin(phi)) / (u_v * np.cos(theta - alpha_c))
-        )  # Slide 104 in Fossen 2024
+    def calculate_beta_c(u: float, v: float, w: float, phi: float, theta: float, alpha_c: float) -> float:
+        U_v = u * np.sqrt(1 + np.tan(alpha_c)**2)
+        return np.arctan((v * np.cos(phi) - w * np.sin(phi)) / (U_v * np.cos(theta - alpha_c))) # Slide 104 in Fossen 2024
+
+    def calculate_y_int_dot(self, crosstrack_y, y_int):
+        y_int_dot = (self.lookahead_h * crosstrack_y) / (self.lookahead_h**2 + (crosstrack_y + self.kappa * y_int)**2)
+        return y_int_dot