Source code for suboptimumg.models

from __future__ import annotations

from pydantic import BaseModel, ConfigDict, Field




class TireForce(BaseModel):
    """
    Forces acting on a single tire at a single instant.
    """

    model_config = ConfigDict(frozen=True, extra="forbid")

    normal: float = Field(description="Normal force on the tire (N)")
    lateral: float = Field(description="Lateral force on the tire (N)")





class TireForces(BaseModel):
    """
    Forces acting on the four tires at a single instant.
    """

    model_config = ConfigDict(frozen=True, extra="forbid")

    front_left: TireForce = Field(description="Forces on the front left tire")
    front_right: TireForce = Field(description="Forces on the front right tire")
    back_left: TireForce = Field(description="Forces on the back left tire")
    back_right: TireForce = Field(description="Forces on the back right tire")

    @property
    def total_normal(self) -> float:
        """Sum of the normal forces on all four tires (N)."""
        return sum(
            (
                self.front_left.normal,
                self.front_right.normal,
                self.back_left.normal,
                self.back_right.normal,
            )
        )





class SimulationState(BaseModel):
    """
    Vehicle state used in our simulation.
    """

    model_config = ConfigDict(frozen=True, extra="forbid")

    sliding: bool = Field(description="Whether the vehicle is sliding")
    acc: float = Field(description="Longitudinal acceleration (m/s^2)")
    v: float = Field(description="Current velocity (m/s)")
    dt: float = Field(description="Current time step (s)")
    p: float = Field(description="Current power (W)")
    motor_torque: float = Field(
        default=0.0,
        description=(
            "Per-motor shaft torque (N*m), signed: positive driving, negative "
            "regen. This is the mechanical output torque of a SINGLE motor "
            "(total drivetrain torque / motor count), the quantity the "
            "efficiency LUT and the real motor torqueFeedback are indexed by."
        ),
    )

    roll: float = Field(default=0.0, description="Roll angle (rad)")
    pitch: float = Field(default=0.0, description="Pitch angle (rad)")



    def model_copy(self, *args: object, **kwargs: object) -> SimulationState:
        """
        Raise an error, since copying is disabled to ensure immutability.
        """
        raise TypeError("Copying is disabled for SimulationState")




    def copy(self, *args: object, **kwargs: object) -> SimulationState:
        """
        Raise an error, since copying is disabled to ensure immutability.
        """
        raise TypeError("Copying is disabled for SimulationState")