lamont-granquist

#include <stdlib.h>
#include <math.h>
#include <string.h>
#include <stdio.h>

#include "auglag.h"

int auglag_verbose = 0;

#define MIN(a,b) ((a) < (b) ? (a) : (b))

lamont-granquist

using Optim
using Roots
using LinearAlgebra
using LineSearches

using Pkg

evaluations = 0

local_path = joinpath(@__DIR__, "..", "AstroUtils.jl")

lamont-granquist

function dX_dt = EOM1(t, X)
  global indexes

  r  = X(indexes.r);
  v  = X(indexes.v);

  r2 = dot(r,r);
  rm = sqrt(r2);
  r3 = r2 * rm;

lamont-granquist

clear all; close all; clc;
format longG;

k = 1
M = 1
w = sqrt(k/M)

r0 = 0
v0 = 1

lamont-granquist

        FlightCtrlState ctrlState = base.part.vessel.ctrlState;
        inputVector = new Vector3(ignorePitch ? 0f : ctrlState.pitch, ignoreRoll ? 0f : ctrlState.roll, ignoreYaw ? 0f : ctrlState.yaw);
        float num = actuatorSpeed * TimeWarp.fixedDeltaTime / ctrlSurfaceRange;
        if (!useExponentialSpeed)
        {
            rotatingControlInput.x = Mathf.MoveTowards(rotatingControlInput.x, inputVector.x, num);
            rotatingControlInput.y = Mathf.MoveTowards(rotatingControlInput.y, inputVector.y, num);
            rotatingControlInput.z = Mathf.MoveTowards(rotatingControlInput.z, inputVector.z, num);
        }
        else

lamont-granquist

% rg "info item" ~/ksp/vanilla_1.12.3/KSP.log
4407:[LOG 10:28:20.356] [MechJeb2] Registered 266 info items in 45 ms
4413:[LOG 10:28:20.560] [MechJeb2] Registered 266 info items in 21 ms
4492:[LOG 10:28:21.579] [MechJeb2] Registered 266 info items in 20 ms
4494:[LOG 10:28:21.672] [MechJeb2] Registered 266 info items in 29 ms
4496:[LOG 10:28:21.730] [MechJeb2] Registered 266 info items in 20 ms
4499:[LOG 10:28:21.796] [MechJeb2] Registered 266 info items in 20 ms
4506:[LOG 10:28:21.907] [MechJeb2] Registered 266 info items in 19 ms
4511:[LOG 10:28:21.976] [MechJeb2] Registered 266 info items in 19 ms
4514:[LOG 10:28:22.042] [MechJeb2] Registered 266 info items in 27 ms

lamont-granquist

[LOG 21:50:58.171] STARTING _SolveClosestApproach(): 286233349.766832 4479013.22558666 0 286009932.362426 290488945.588012 0.0001 50 2
[LOG 21:50:58.172] 286009932.362426: rdv:-2696604207640.61 drdv:3003881395.80612 ddrdv:3710670.69407882
[LOG 21:50:58.172] 286054722.494682: rdv:673023220151.284 drdv:-5332710.80037581 ddrdv:76.0199009532387
[LOG 21:50:58.172] 286099512.626937: rdv:481343502298.516 drdv:-3614646.49437004 ddrdv:19.2976858570859
[LOG 21:50:58.172] 286144302.759193: rdv:334347688727.041 drdv:-3019628.837964 ddrdv:9.49075302243001
[LOG 21:50:58.172] 286189092.891449: rdv:207445772719.538 drdv:-2666383.34877059 ddrdv:6.81418105051121
[LOG 21:50:58.172] 286233883.023705: rdv:94515535183.2774 drdv:-2381644.6914571 ddrdv:6.07463274610236
[LOG 21:50:58.172] 286278673.155961: rdv:-6120882744.60595 drdv:-2112483.84193395 ddrdv:6.00916723758079
[LOG 21:50:58.172] 286323463.288217: rdv:-94662181406.5353 drdv:-1839736.41628581 ddrdv:6.1922345972459
[LOG 21:50:58.172] 286368253.420473: rdv:-170769845826.956 

lamont-granquist

{"2022-01-01 to 2023-01-01"=>
  {"dei:CoverAbstract"=>
    {"dei:DocumentFiscalYearFocus"=>"2022",
     "dei:CurrentFiscalYearEndDate"=>"--12-31",
     "dei:EntityFileNumber"=>"0-30695",
     "dei:EntityCentralIndexKey"=>"0001113313",
     "dei:EntityTaxIdentificationNumber"=>"87-0618509",
     "dei:EntityAddressPostalZipCode"=>"84111",
     "dei:LocalPhoneNumber"=>"232-7395",
     "dei:AuditorFirmId"=>"731"},

lamont-granquist

2023-07-30 11:12:58,785 [ix11.10.1.2:invalidTransformation] Fact us-gaap:NumberOfBusinessesAcquired has unrecognized transformation namespace http://www.sec.gov/inlineXBRL/transformation/2015-08-31 - ebay201710-k.htm 4536

2023-07-30 11:12:58,787 [ix11.11.1.2:invalidTransformation] Fact us-gaap:FiniteLivedIntangibleAssetUsefulLife has unrecognized transformation namespace http://www.sec.gov/inlineXBRL/transformation/2015-08-31 - ebay201710-k.htm 4536

2023-07-30 11:12:58,787 [ix11.11.1.2:invalidTransformation] Fact us-gaap:FiniteLivedIntangibleAssetUsefulLife has unrecognized transformation namespace http://www.sec.gov/inlineXBRL/transformation/2015-08-31 - ebay201710-k.htm 4536

2023-07-30 11:12:58,787 [ix11.11.1.2:invalidTransformation] Fact us-gaap:FiniteLivedIntangibleAssetUsefulLife has unrecognized transformation namespace http://www.sec.gov/inlineXBRL/transformation/2015-08-31 - ebay201710-k.htm 4536

2023-07-30 11:12:58,788 [ix11.11.1.2:invalidTransformation] Fact us-gaap:FiniteLivedIntangibleAssetUse

lamont-granquist

using System;

public class QuaternionPIDController
{
    // PID gains for each component of the quaternion
    private double Kp;
    private double Ki;
    private double Kd;

    // Integral and derivative terms for each component of the quaternion