| Quellcodebibliothek Statistik Leitseite products/Sources/formale Sprachen/VDM/VDMSL/SAFERSL/ (Wiener Entwicklungsmethode ©) Datei vom 13.4.2020 mit Größe 6 kB |
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Quelle ts.vdmsl Sprache: VDM |
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\begin{vdm_al}
module TS imports from AUX all, from AAH all exports all definitions types ThrusterName = <B1> | <B2> | <B3> | <B4> | <F1> | <F2> | <F3> | <F4> | <L1R>| <L1F>| <R2R>| <R2F>| <L3R>| <L3F>| <R4R>| <R4F>| <D1R>| <D1F>| <D2R>| <D2F>| <U3R>| <U3F>| <U4R>| <U4F>; ThrusterSet = set of ThrusterName functions RotCmdsPresent: AUX`RotCommand +> bool RotCmdsPresent(cmd) == exists a in set dom cmd & cmd(a) <> <Zero>; PrioritizedTranCmd: AUX`TranCommand +> AUX`TranCommand PrioritizedTranCmd(tran) == if tran(<X>) <> <Zero> then AUX`null_tran_command ++ {<X> |-> tran(<X>)} elseif tran(<Y>) <> <Zero> then AUX`null_tran_command ++ {<Y> |-> tran(<Y>)} elseif tran(<Z>) <> <Zero> then AUX`null_tran_command ++ {<Z> |-> tran(<Z>)} else AUX`null_tran_command; CombinedRotCmds: AUX`RotCommand * AUX`RotCommand * set of AUX`RotAxis +> AUX`RotCommand CombinedRotCmds(hcm_rot,aah,ignore_hcm) == let aah_axes = ignore_hcm union {a | a in set AUX`rot_axis_set & hcm_rot(a) = <Zero>} in {a |-> aah(a) | a in set aah_axes} munion {a |-> hcm_rot(a) | a in set AUX`rot_axis_set\aah_axes}; IntegratedCommands: AUX`SixDofCommand * AUX`RotCommand * set of AUX`RotAxis * set of AUX`RotAxis +> AUX`SixDofCommand IntegratedCommands(mk_AUX`SixDofCommand(tran,rot),aah, active_axes,ignore_hcm) == if AAH`AllAxesOff(active_axes) then if RotCmdsPresent(rot) then mk_AUX`SixDofCommand(AUX`null_tran_command,rot) else mk_AUX`SixDofCommand(PrioritizedTranCmd(tran), AUX`null_rot_command) else if RotCmdsPresent(rot) then mk_AUX`SixDofCommand(AUX`null_tran_command, CombinedRotCmds(rot,aah,ignore_hcm)) else mk_AUX`SixDofCommand(PrioritizedTranCmd(tran),aah); BFThrusters: AUX`AxisCommand * AUX`AxisCommand * AUX`AxisCommand +> ThrusterSet * ThrusterSet BFThrusters(A,B,C) == cases mk_(A,B,C) : mk_(<Neg>,<Neg>,<Neg>) -> mk_({<B4>},{<B2>,<B3>}), mk_(<Neg>,<Neg>,<Zero>) -> mk_({<B3>,<B4>},{}), mk_(<Neg>,<Neg>,<Pos>) -> mk_({<B3>},{<B1>,<B4>}), -- mk_(<Neg>,<Zero>,<Neg>) -> mk_({<B2>,<B4>},{}), mk_(<Neg>,<Zero>,<Zero>) -> mk_({<B1>,<B4>},{<B2>,<B3>}), mk_(<Neg>,<Zero>,<Pos>) -> mk_({<B1>,<B3>},{}), ---- mk_(<Neg>,<Pos>,<Neg>) -> mk_({<B2>},{<B1>,<B4>}), mk_(<Neg>,<Pos>,<Zero>) -> mk_({<B1>,<B2>},{}), mk_(<Neg>,<Pos>,<Pos>) -> mk_({<B1>},{<B2>,<B3>}), ------ mk_(<Zero>,<Neg>,<Neg>) -> mk_({<B4>,<F1>},{}), mk_(<Zero>,<Neg>,<Zero>) -> mk_({<B4>,<F2>},{}), mk_(<Zero>,<Neg>,<Pos>) -> mk_({<B3>,<F2>},{}), -- mk_(<Zero>,<Zero>,<Neg>) -> mk_({<B2>,<F1>},{}), mk_(<Zero>,<Zero>,<Zero>) -> mk_({},{}), mk_(<Zero>,<Zero>,<Pos>) -> mk_({<B3>,<F4>},{}), ---- mk_(<Zero>,<Pos>,<Neg>) -> mk_({<B2>,<F3>},{}), mk_(<Zero>,<Pos>,<Zero>) -> mk_({<B1>,<F3>},{}), mk_(<Zero>,<Pos>,<Pos>) -> mk_({<B1>,<F4>},{}), ------ mk_(<Pos>,<Neg>,<Neg>) -> mk_({<F1>},{<F2>,<F3>}), mk_(<Pos>,<Neg>,<Zero>) -> mk_({<F1>,<F2>},{}), mk_(<Pos>,<Neg>,<Pos>) -> mk_({<F2>},{<F1>,<F4>}), -- mk_(<Pos>,<Zero>,<Neg>) -> mk_({<F1>,<F3>},{}), mk_(<Pos>,<Zero>,<Zero>) -> mk_({<F2>,<F3>},{<F1>,<F4>}), mk_(<Pos>,<Zero>,<Pos>) -> mk_({<F2>,<F4>},{}), ---- mk_(<Pos>,<Pos>,<Neg>) -> mk_({<F3>},{<F1>,<F4>}), mk_(<Pos>,<Pos>,<Zero>) -> mk_({<F3>,<F4>},{}), mk_(<Pos>,<Pos>,<Pos>) -> mk_({<F4>},{<F2>,<F3>}) end; LRUDThrusters: AUX`AxisCommand * AUX`AxisCommand * AUX`AxisCommand +> ThrusterSet * ThrusterSet LRUDThrusters(A,B,C) == cases mk_(A,B,C) : mk_(<Neg>,<Neg>,<Neg>) -> mk_({},{}), mk_(<Neg>,<Neg>,<Zero>) -> mk_({},{}), mk_(<Neg>,<Neg>,<Pos>) -> mk_({},{}), -- mk_(<Neg>,<Zero>,<Neg>) -> mk_({<L1R>},{<L1F>,<L3F>}), mk_(<Neg>,<Zero>,<Zero>) -> mk_({<L1R>,<L3R>},{<L1F>,<L3F>}), mk_(<Neg>,<Zero>,<Pos>) -> mk_({<L3R>},{<L1F>,<L3F>}), ---- mk_(<Neg>,<Pos>,<Neg>) -> mk_({},{}), mk_(<Neg>,<Pos>,<Zero>) -> mk_({},{}), mk_(<Neg>,<Pos>,<Pos>) -> mk_({},{}), ------ mk_(<Zero>,<Neg>,<Neg>) -> mk_({<U3R>},{<U3F>,<U4F>}), mk_(<Zero>,<Neg>,<Zero>) -> mk_({<U3R>,<U4R>},{<U3F>,<U4F>}), mk_(<Zero>,<Neg>,<Pos>) -> mk_({<U4R>},{<U3F>,<U4F>}), -- mk_(<Zero>,<Zero>,<Neg>) -> mk_({<L1R>,<R4R>},{}), mk_(<Zero>,<Zero>,<Zero>) -> mk_({},{}), mk_(<Zero>,<Zero>,<Pos>) -> mk_({<R2R>,<L3R>},{}), ---- mk_(<Zero>,<Pos>,<Neg>) -> mk_({<D2R>},{<D1F>,<D2F>}), mk_(<Zero>,<Pos>,<Zero>) -> mk_({<D1R>,<D2R>},{<D1F>,<D2F>}), mk_(<Zero>,<Pos>,<Pos>) -> mk_({<D1R>},{<D1F>,<D2F>}), ------ mk_(<Pos>,<Neg>,<Neg>) -> mk_({},{}), mk_(<Pos>,<Neg>,<Zero>) -> mk_({},{}), mk_(<Pos>,<Neg>,<Pos>) -> mk_({},{}), -- mk_(<Pos>,<Zero>,<Neg>) -> mk_({<R4R>},{<R2F>,<R4F>}), mk_(<Pos>,<Zero>,<Zero>) -> mk_({<R2R>,<R4R>},{<R2F>,<R4F>}), mk_(<Pos>,<Zero>,<Pos>) -> mk_({<R2R>},{<R2F>,<R4F>}), ---- mk_(<Pos>,<Pos>,<Neg>) -> mk_({},{}), mk_(<Pos>,<Pos>,<Zero>) -> mk_({},{}), mk_(<Pos>,<Pos>,<Pos>) -> mk_({},{}) end; SelectedThrusters: AUX`SixDofCommand * AUX`RotCommand * set of AUX`RotAxis * set of AUX`RotAxis +> ThrusterSet SelectedThrusters(hcm,aah,active_axes,ignore_hcm) == let mk_AUX`SixDofCommand(tran,rot) = IntegratedCommands(hcm,aah,active_axes,ignore_hcm), mk_(bf_mandatory,bf_optional) = BFThrusters(tran(<X>),rot(<Pitch>),rot(<Yaw>)), mk_(lrud_mandatory,lrud_optional) = LRUDThrusters(tran(<Y>),tran(<Z>),rot(<Roll>)), bf_thr = if rot(<Roll>) = <Zero> then bf_optional union bf_mandatory else bf_mandatory, lrud_thr = if rot(<Pitch>) = <Zero> and rot(<Yaw>) = <Zero> then lrud_optional union lrud_mandatory else lrud_mandatory in bf_thr union lrud_thr end TS \end{vdm_al} ¤ Dauer der Verarbeitung: 0.15 Sekunden (vorverarbeitet) ¤*© Formatika GbR, Deutschland |
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2026-03-28