ENH: add option to add noise to each axis seperatly

rocketpy/mathutils/vector_matrix.py

@@ -242,6 +242,29 @@ def __xor__(self, other):
             ]
         )
 
+    def __and__(self, other):
+        """Element wise multiplication between two R3 vectors.
+
+        Parameters
+        ----------
+        other : Vector
+            R3 vector to be multiplied with self.
+
+        Returns
+        -------
+        Vector
+            R3 vector resulting from the element wise multiplication between
+            self and other.
+
+        Examples
+        --------
+        >>> v = Vector([1, 7, 3])
+        >>> u = Vector([2, 5, 6])
+        >>> (v & u)
+        Vector(2, 35, 18)
+        """
+        return Vector([self.x * other[0], self.y * other[1], self.z * other[2]])
+
     def __matmul__(self, other):
         """Dot product between two R3 vectors."""
         return self.x * other.x + self.y * other.y + self.z * other.z

rocketpy/sensors/accelerometer.py

@@ -59,27 +59,38 @@ def __init__(
         resolution : float, optional
             The resolution of the sensor in m/s^2/LSB. Default is 0, meaning no
             quantization is applied.
-        noise_density : float, optional
+        noise_density : float, list, optional
             The noise density of the sensor in m/s^2/√Hz. Sometimes called
             "white noise drift", "angular random walk" for gyroscopes, "velocity
-            random walk" for the accelerometers or "(rate) noise density".
-            Default is 0, meaning no noise is applied.
-        random_walk : float, optional
+            random walk" for the accelerometers or "(rate) noise density". If a
+            float or int is given, the same noise density is applied to all
+            axes. The values of each axis can be set individually by passing a
+            list of length 3.
+        random_walk : float, list, optional
             The random walk of the sensor in m/s^2/√Hz. Sometimes called "bias
             (in)stability" or "bias drift"". Default is 0, meaning no random
-            walk is applied.
-        constant_bias : float, optional
+            walk is applied. If a float or int is given, the same random walk is
+            applied to all axes. The values of each axis can be set individually
+            by passing a list of length 3.
+        constant_bias : float, list, optional
             The constant bias of the sensor in m/s^2. Default is 0, meaning no
-            constant bias is applied.
+            constant bias is applied. If a float or int is given, the same bias
+            is applied to all axes. The values of each axis can be set
+            individually by passing a list of length 3.
         operating_temperature : float, optional
             The operating temperature of the sensor in degrees Celsius. At 25°C,
             the temperature bias and scale factor are 0. Default is 25.
-        temperature_bias : float, optional
+        temperature_bias : float, list, optional
             The temperature bias of the sensor in m/s^2/°C. Default is 0,
-            meaning no temperature bias is applied.
-        temperature_scale_factor : float, optional
+            meaning no temperature bias is applied. If a float or int is given,
+            the same temperature bias is applied to all axes. The values of each
+            axis can be set individually by passing a list of length 3.
+        temperature_scale_factor : float, list, optional
             The temperature scale factor of the sensor in %/°C. Default is 0,
-            meaning no temperature scale factor is applied.
+            meaning no temperature scale factor is applied. If a float or int is
+            given, the same temperature scale factor is applied to all axes. The
+            values of each axis can be set individually by passing a list of
+            length 3.
         cross_axis_sensitivity : float, optional
             Skewness of the sensor's axes in percentage. Default is 0, meaning
             no cross-axis sensitivity is applied.
@@ -93,9 +104,6 @@ def __init__(
         -------
         None
         """
-        self.type = "Accelerometer"
-        self.consider_gravity = consider_gravity
-        self.prints = _AccelerometerPrints(self)
         super().__init__(
             sampling_rate,
             orientation,
@@ -110,6 +118,9 @@ def __init__(
             cross_axis_sensitivity=cross_axis_sensitivity,
             name=name,
         )
+        self.type = "Accelerometer"
+        self.consider_gravity = consider_gravity
+        self.prints = _AccelerometerPrints(self)
 
     def measure(self, t, u, u_dot, relative_position, gravity, *args):
         """

rocketpy/sensors/gyroscope.py

@@ -57,41 +57,53 @@ def __init__(
         resolution : float, optional
             The resolution of the sensor in rad/s/LSB. Default is 0, meaning no
             quantization is applied.
-        noise_density : float, optional
+        noise_density : float, list, optional
             The noise density of the sensor in rad/s/√Hz. Sometimes called
             "white noise drift", "angular random walk" for gyroscopes, "velocity
             random walk" for the accelerometers or "(rate) noise density".
-            Default is 0, meaning no noise is applied.
-        random_walk : float, optional
+            Default is 0, meaning no noise is applied. If a float or int is
+            given, the same noise density is applied to all axes. The values of
+            each axis can be set individually by passing a list of length 3.
+        random_walk : float, list, optional
             The random walk of the sensor in rad/s/√Hz. Sometimes called "bias
             (in)stability" or "bias drift"". Default is 0, meaning no random
-            walk is applied.
-        constant_bias : float, optional
+            walk is applied. If a float or int is given, the same random walk is
+            applied to all axes. The values of each axis can be set individually
+            by passing a list of length 3.
+        constant_bias : float, list, optional
             The constant bias of the sensor in rad/s. Default is 0, meaning no
-            constant bias is applied.
+            constant bias is applied. If a float or int is given, the same bias
+            is applied to all axes. The values of each axis can be set
+            individually by passing a list of length 3.
         operating_temperature : float, optional
             The operating temperature of the sensor in degrees Celsius. At 25°C,
             the temperature bias and scale factor are 0. Default is 25.
-        temperature_sensitivity : float, optional
+        temperature_sensitivity : float, list, optional
             The temperature bias of the sensor in rad/s/°C. Default is 0,
-            meaning no temperature bias is applied.
-        temperature_scale_factor : float, optional
+            meaning no temperature bias is applied. If a float or int is given,
+            the same temperature bias is applied to all axes. The values of each
+            axis can be set individually by passing a list of length 3.
+        temperature_scale_factor : float, list, optional
             The temperature scale factor of the sensor in %/°C. Default is 0,
-            meaning no temperature scale factor is applied.
+            meaning no temperature scale factor is applied. If a float or int is
+            given, the same temperature scale factor is applied to all axes. The
+            values of each axis can be set individually by passing a list of
+            length 3.
         cross_axis_sensitivity : float, optional
             Skewness of the sensor's axes in percentage. Default is 0, meaning
             no cross-axis sensitivity is applied.
-        acceleration_sensitivity : float, optional
+            of each axis can be set individually by passing a list of length 3.
+        acceleration_sensitivity : float, list, optional
             Sensitivity of the sensor to linear acceleration in rad/s/g. Default
-            is 0, meaning no sensitivity to linear acceleration is applied.
+            is 0, meaning no sensitivity to linear acceleration is applied. If a
+            float or int is given, the same sensitivity is applied to all axes.
+            The values of each axis can be set individually by passing a list of
+            length 3.
 
         Returns
         -------
         None
         """
-        self.type = "Gyroscope"
-        self.acceleration_sensitivity = acceleration_sensitivity
-        self.prints = _GyroscopePrints(self)
         super().__init__(
             sampling_rate,
             orientation,
@@ -106,6 +118,11 @@ def __init__(
             cross_axis_sensitivity=cross_axis_sensitivity,
             name=name,
         )
+        self.type = "Gyroscope"
+        self.acceleration_sensitivity = self._vectorize_input(
+            acceleration_sensitivity, "acceleration_sensitivity"
+        )
+        self.prints = _GyroscopePrints(self)
 
     def measure(self, t, u, u_dot, relative_position, *args):
         """
@@ -126,7 +143,7 @@ def measure(self, t, u, u_dot, relative_position, *args):
         W = self.apply_temperature_drift(W)
 
         # Apply acceleration sensitivity
-        if self.acceleration_sensitivity != 0 and self.acceleration_sensitivity != None:
+        if self.acceleration_sensitivity != Vector.zeros():
             W += self.apply_acceleration_sensitivity(
                 omega, u_dot, relative_position, inertial_to_sensor
             )
@@ -174,7 +191,7 @@ def apply_acceleration_sensitivity(
         # Transform to sensor frame
         A = rotation_matrix @ A
 
-        return self.acceleration_sensitivity * A
+        return self.acceleration_sensitivity & A
 
     def export_measured_values(self, filename, format="csv"):
         """

rocketpy/sensors/sensors.py

@@ -55,27 +55,39 @@ def __init__(
         resolution : float, optional
             The resolution of the sensor in sensor units/LSB. Default is 0,
             meaning no quantization is applied.
-        noise_density : float, optional
+        noise_density : float, list, optional
             The noise density of the sensor in sensor units/√Hz. Sometimes
             called "white noise drift", "angular random walk" for gyroscopes,
             "velocity random walk" for the accelerometers or
             "(rate) noise density". Default is 0, meaning no noise is applied.
-        random_walk : float, optional
+            If a float or int is given, the same noise density is applied to all
+            axes. The values of each axis can be set individually by passing a
+            list of length 3.
+        random_walk : float, list, optional
             The random walk of the sensor in sensor units/√Hz. Sometimes called
             "bias (in)stability" or "bias drift"". Default is 0, meaning no
-            random walk is applied.
-        constant_bias : float, optional
+            random walk is applied. If a float or int is given, the same random
+            walk is applied to all axes. The values of each axis can be set
+            individually by passing a list of length 3.
+        constant_bias : float, list, optional
             The constant bias of the sensor in sensor units. Default is 0,
-            meaning no constant bias is applied.
+            meaning no constant bias is applied. If a float or int is given, the
+            same constant bias is applied to all axes. The values of each axis
+            can be set individually by passing a list of length 3.
         operating_temperature : float, optional
             The operating temperature of the sensor in degrees Celsius. At 25°C,
             the temperature bias and scale factor are 0. Default is 25.
-        temperature_bias : float, optional
+        temperature_bias : float, list, optional
             The temperature bias of the sensor in sensor units/°C. Default is 0,
-            meaning no temperature bias is applied.
-        temperature_scale_factor : float, optional
+            meaning no temperature bias is applied. If a float or int is given,
+            the same temperature bias is applied to all axes. The values of each
+            axis can be set individually by passing a list of length 3.
+        temperature_scale_factor : float, list, optional
             The temperature scale factor of the sensor in %/°C. Default is 0,
-            meaning no temperature scale factor is applied.
+            meaning no temperature scale factor is applied. If a float or int is
+            given, the same temperature scale factor is applied to all axes. The
+            values of each axis can be set individually by passing a list of
+            length 3.
         cross_axis_sensitivity : float, optional
             Skewness of the sensor's axes in percentage. Default is 0, meaning
             no cross-axis sensitivity is applied.
@@ -89,12 +101,16 @@ def __init__(
         self.sampling_rate = sampling_rate
         self.orientation = orientation
         self.resolution = resolution
-        self.noise_density = noise_density * Vector([1, 1, 1])
-        self.random_walk = random_walk * Vector([1, 1, 1])
-        self.constant_bias = constant_bias * Vector([1, 1, 1])
         self.operating_temperature = operating_temperature
-        self.temperature_bias = temperature_bias * Vector([1, 1, 1])
-        self.temperature_scale_factor = temperature_scale_factor * Vector([1, 1, 1])
+        self.noise_density = self._vectorize_input(noise_density, "noise_density")
+        self.random_walk = self._vectorize_input(random_walk, "random_walk")
+        self.constant_bias = self._vectorize_input(constant_bias, "constant_bias")
+        self.temperature_bias = self._vectorize_input(
+            temperature_bias, "temperature_bias"
+        )
+        self.temperature_scale_factor = self._vectorize_input(
+            temperature_scale_factor, "temperature_scale_factor"
+        )
         self.cross_axis_sensitivity = cross_axis_sensitivity
         self.name = name
         self._random_walk_drift = Vector([0, 0, 0])
@@ -138,11 +154,19 @@ def __init__(
         # compute total rotation matrix given cross axis sensitivity
         self._total_rotation_matrix = self.rotation_matrix @ _cross_axis_matrix
 
+    def _vectorize_input(self, value, name):
+        if isinstance(value, (int, float)):
+            return Vector([value, value, value])
+        elif isinstance(value, (tuple, list)):
+            return Vector(value)
+        else:
+            raise ValueError(f"Invalid {name} format")
+
     def __repr__(self):
         return f"{self.type} sensor, orientation: {self.orientation}"
 
-    def __call__(self, *args, **kwds):
-        return self.measure(*args, **kwds)
+    def __call__(self, *args, **kwargs):
+        return self.measure(*args, **kwargs)
 
     @abstractmethod
     def measure(self, *args, **kwargs):
@@ -226,8 +250,6 @@ def apply_temperature_drift(self, value):
             Vector([1, 1, 1])
             + (self.operating_temperature - 25) / 100 * self.temperature_scale_factor
         )
-        value.x *= scale_factor.x
-        value.y *= scale_factor.y
-        value.z *= scale_factor.z
+        value = value & scale_factor
 
         return value

tests/fixtures/sensors/sensors_fixtures.py

@@ -6,16 +6,16 @@
 def noisy_rotated_accelerometer():
     """Returns an accelerometer with all parameters set to non-default values,
     i.e. with noise and rotation."""
-    # mpu6050 values
+    # mpu6050 approx values
     return Accelerometer(
         sampling_rate=100,
         orientation=(60, 60, 60),
-        noise_density=0.05,
-        random_walk=0.02,
-        constant_bias=0.5,
+        noise_density=[0, 0.03, 0.05],
+        random_walk=[0, 0.01, 0.02],
+        constant_bias=[0, 0.3, 0.5],
         operating_temperature=25,
-        temperature_bias=0.02,
-        temperature_scale_factor=0.02,
+        temperature_bias=[0, 0.01, 0.02],
+        temperature_scale_factor=[0, 0.01, 0.02],
         cross_axis_sensitivity=0.5,
         consider_gravity=True,
         name="Accelerometer",
@@ -26,18 +26,18 @@ def noisy_rotated_accelerometer():
 def noisy_rotated_gyroscope():
     """Returns a gyroscope with all parameters set to non-default values,
     i.e. with noise and rotation."""
-    # mpu6050 values
+    # mpu6050 approx values
     return Gyroscope(
         sampling_rate=100,
         orientation=(-60, -60, -60),
-        noise_density=0.05,
-        random_walk=0.02,
-        constant_bias=0.5,
+        noise_density=[0, 0.03, 0.05],
+        random_walk=[0, 0.01, 0.02],
+        constant_bias=[0, 0.3, 0.5],
         operating_temperature=25,
-        temperature_bias=0.02,
-        temperature_scale_factor=0.02,
+        temperature_bias=[0, 0.01, 0.02],
+        temperature_scale_factor=[0, 0.01, 0.02],
         cross_axis_sensitivity=0.5,
-        acceleration_sensitivity=0.0017,
+        acceleration_sensitivity=[0, 0.0008, 0.0017],
         name="Gyroscope",
     )