ADCS.controller.plan_and_track.debug_planner module

Debug wrapper for the trajectory planner that provides step-by-step output.

This module provides a DebugPlanner class that wraps the tplaunch.Planner and exposes the same interface, while providing detailed diagnostic output about the backward/forward passes, constraint violations, and active sets.

Usage:

# In plan_and_track_exact.py, replace: # self.planner = tplaunch.Planner(…) # With: # from ADCS.controller.plan_and_track.debug_planner import DebugPlanner # self.planner = DebugPlanner(csat, …, debug_level=2)

class ADCS.controller.plan_and_track.debug_planner.DebugPlanner(csat, systemSettings, alilqrSettings, alilqrSettings2, initialTrajSettings, costSettings, costSettings2, costSettings_tvlqr, debug_level=1, log_file=None)

Bases: object

A wrapper around tplaunch.Planner that provides debugging output.

debug_level:

0 = No debug output (passthrough to underlying planner) 1 = Summary output (cost, max violation, iteration counts) 2 = Detailed output (control patterns, constraint states) 3 = Very detailed (per-timestep values)

Parameters:

• debug_level (int)

• log_file (Optional[str])

addRandNoise(dt, trajPy, dlaZcount, stepsSinceRand, breakSettings, regSettings, costSettings, auglag_vals, vecs)

Add random noise with debug output.

alilqr(dt, trajPy, vecsPy, costSettings, alilqrSettings, isFirstSearch)

Full ALILQR with debug output.

backwardPass(dt, trajPy, vecsPy, auglag_valsPy, regs, costSettings, regSettings, useDist)

Backward pass with debug output.

cleanUpAfterAlilqr(vecsPy, dt_prev, time_start, time_end, alilqrOut)

Clean up after ALILQR.

cost2Func(trajPy, vecsPy, auglag_valsPy, costSettings)

Cost function with debug output.

dynamics(x, u, dynamics_info)

Dynamics evaluation.

echo_int(x)

Parameters:

x (int)

forwardPass(dt, trajPy, vecsPy, auglag_valsPy, BPresultsPy, regs, costSettings, regSettings, lineSearchSettings, useDist)

Forward pass with debug output.

generateInitialTrajectory(dt, x0, Uset, vecsPy)

Generate initial trajectory with debug output.

getdt()

ilqrBreak(grad, LA, dLA, dlaZcount, cmax, iter, breakSettings, outer_iter, ilqr_iter, forOuter)

Break condition check with debug output.

ilqrStep(dt, trajPy, vecsPy, auglag_valsPy, regs, costSettings, regSettings, lineSearchSettings, breakSettings, useDist)

Single iLQR step with debug output.

incrementAugLag(auglag_valsPy, clistPy, auglagSettings)

Increment augmented Lagrangian with debug output.

maxViol(trajPy, vecsPy, auglag_valsPy)

Max violation with debug output.

outerBreak(auglag_valsPy, cmax, breakSettings, auglagSettings, outer_iter)

Outer break condition check with debug output.

prepareForAlilqr(vecsPy, dt_use, time_start, time_end, x0, bdotOn)

Prepare for ALILQR with debug output.

readDebug()

readParameters()

rk4z(dt, x, u, dynamics_info_k, dynamics_info_kp1)

RK4 integration.

setVerbosity(verbosity)

Parameters:

verbosity (bool)

setquaternionTo3VecMode(val)

Parameters:

val (int)

trajOpt(vecsPy, N, time_start, time_end, x0, bdotOn)

Main trajectory optimization with debug output.

updateParameters(*args)