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Issue #116: Add observation of angle between instrument and target #117

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Feb 17, 2024
Merged

Issue #116: Add observation of angle between instrument and target #117

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669943b
Issue #116: Add observation of angle between instrument and target
LorenzzoQM Feb 16, 2024
78d1eca
Issue #116: Add test for target angle observation
LorenzzoQM Feb 16, 2024
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12 changes: 12 additions & 0 deletions src/bsk_rl/envs/general_satellite_tasking/scenario/sat_observations.py
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Original file line number Diff line number Diff line change
Expand Up @@ -200,6 +200,7 @@ def __init__(
* window_open
* window_mid
* window_close
* target_angle
args: Passed through to satellite
kwargs: Passed through to satellite
"""
Expand Down Expand Up @@ -246,6 +247,17 @@ def target_obs(self):
value = sum(opportunity["window"]) / 2 - self.simulator.sim_time
elif name == "window_close":
value = opportunity["window"][1] - self.simulator.sim_time
elif name == "target_angle":
vector_target_spacecraft_P = (
opportunity["target"].location - self.dynamics.r_BN_P
)
vector_target_spacecraft_P_hat = (
vector_target_spacecraft_P
/ np.linalg.norm(vector_target_spacecraft_P)
)
value = np.arccos(
np.dot(vector_target_spacecraft_P_hat, self.fsw.c_hat_P)
)
else:
raise ValueError(
f"Invalid target property: {prop_spec['prop']}"
Expand Down
18 changes: 18 additions & 0 deletions tests/unittest/envs/general_satellite_tasking/scenario/test_sat_observations.py
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Original file line number Diff line number Diff line change
Expand Up @@ -149,6 +149,7 @@ def test_target_state_normed(self, sat_init):
dict(prop="window_open", norm=10.0),
dict(prop="window_mid"),
dict(prop="window_close"),
dict(prop="target_angle"),
],
)

Expand All @@ -163,6 +164,17 @@ def test_target_state_normed(self, sat_init):
for target in sat.upcoming_targets()
]
sat.simulator = MagicMock(sim_time=5.0)
sat.dynamics = MagicMock(r_BN_P=np.array([5.0, 5.0, 0.0]))
sat.fsw = MagicMock(c_hat_P=np.array([0.0, 1.0, 0.0]))

vector_target_sat = [
sat.upcoming_targets()[i].location - sat.dynamics.r_BN_P
for i in range(n_ahead)
]
vector_target_sat_hat = [
vector_target_sat[i] / np.linalg.norm(vector_target_sat[i])
for i in range(n_ahead)
]

expected = dict(
target_0=dict(
Expand All @@ -171,13 +183,19 @@ def test_target_state_normed(self, sat_init):
window_open_normd=5.0 / 10.0,
window_mid=10.0,
window_close=15.0,
target_angle=np.arccos(
np.dot(vector_target_sat_hat[0], sat.fsw.c_hat_P)
),
),
target_1=dict(
priority=1.0,
location_normd=np.array([0.1, 0.1, 0.0]),
window_open_normd=5.0 / 10.0,
window_mid=10.0,
window_close=15.0,
target_angle=np.arccos(
np.dot(vector_target_sat_hat[1], sat.fsw.c_hat_P)
),
),
)
for k1, v1 in sat.target_obs().items():
Expand Down
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