Maneuverability by having two stroke amplitudes in the traJ

[avikde]

Related to #87

• generate double traj
• test old opt on new traj - results should be similar
• different amplitudes

[avikde]

double traj

[avikde]

Opt Φ=120, minal=3.0, τ2/1 lim=2.0 => 1, [6.805 3.48 1.732 6.575 0.0 133.26 0.127], fHz=98.7, al[mg]=179.6, u∞=160.9, pow=11.1, J=13854.3, AR=2.9

Opt result Opt Φ=120, minal=3.0, τ2/1 lim=2.0 => 0, [6.692 3.491 1.695 6.473 0.0 130.349 0.126], fHz=49.8, al[mg]=181.0, u∞=161.8, pow=11.2, J=13402.9, AR=2.9

Conclusion: results are nearly identical - OK

[avikde]

Different strokes

Filtered

[avikde]

Ran for 90 -> 80 Opt Φ=[90.0, 80.0], minal=3.0, τ2/1 lim=2.0 => 0, [3.144 2.78 0.791 2.344 0.0 39.538 0.042], fHz=300.0, al[mg]=147.9, u∞=82.3, pow=16.9, J=10788.1, AR=4.0

• fhz wrong
• high unactErr

[avikde]

Master branch; Opt Φ=-, minal=1.9, τ2/1 lim=2.0 => 0, [3.97 3.283 0.907 3.702 6.567 60.673 0.072], fHz=172.5, al[mg]=144.6, u∞=87.9, pow=11.6, J=6514.4, AR=3.8

This branch: Opt Φ=-, minal=1.9, τ2/1 lim=2.0 => 0, [4.941 3.332 1.711 4.075 5.304 85.541 0.135], fHz=92.5, al[mg]=132.6, u∞=116.2, pow=8.8, J=5903.3, AR=3.5

Same result even after completely commenting out smoothTraj