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Add instance variables to physics node #403

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Jun 10, 2024
Merged

Add instance variables to physics node #403

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13 changes: 13 additions & 0 deletions src/boat_simulator/boat_simulator/nodes/physics_engine/physics_engine_node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@
import sys
from typing import Optional

import numpy as np
import rclpy
import rclpy.utilities
from custom_interfaces.action import SimRudderActuation, SimSailTrimTabActuation
Expand All @@ -30,7 +31,10 @@
from rclpy.subscription import Subscription

import boat_simulator.common.constants as Constants
from boat_simulator.common.generators import MVGaussianGenerator
from boat_simulator.common.types import Scalar
from boat_simulator.nodes.physics_engine.fluid_generation import FluidGenerator
from boat_simulator.nodes.physics_engine.model import BoatState

from .decorators import require_all_subs_active

Expand Down Expand Up @@ -106,6 +110,15 @@ def __init_private_attributes(self):
self.__rudder_angle = 0
self.__sail_trim_tab_angle = 0
self.__desired_heading = None
self.__boat_state = BoatState(
0.5, 1, np.array([[0.5, 0.5, 0.5], [0.0, 0.5, 0.5], [0.0, 0.0, 0.5]], dtype=np.float32)
)
self.__wind_generator = FluidGenerator(
generator=MVGaussianGenerator(np.array([5, 5]), np.array([[2, 1], [1, 2]]))
)
self.__current_generator = FluidGenerator(
generator=MVGaussianGenerator(np.array([1, 1]), np.array([[2, 1], [1, 2]]))
)

def __declare_ros_parameters(self):
"""Declares ROS parameters from the global configuration file that will be used in this
Expand Down