added dynamics and visualization to spaceship

[zipping-suger]

Added dynamic model for the spaceship with a single thruster at the back that can rotate within defined limits. The new dynamics are defined by the following equations:

dx = vx dy = vy dm = -C_T thrust dvx = (1 / m) cos(delta + psi) thrust dvy = (1 / m) sin(delta + psi) thrust dvpsi = -(1 / Iz) lr sin(delta) thrust ddelta = ddelta

Where:

• delta is the thruster angle.
• psi is the spacecraft's heading angle.
• C_T is the thrust coefficient.
• lr is the distance from the thruster to the center of mass.

Added a visualization for spaceship, which is similar to the rocket model.

The dynamic model and visualization can be tested by running test_spaceship.py

[codecov[bot]]

Codecov Report

Attention: Patch coverage is 86.56250% with 43 lines in your changes missing coverage. Please review.

Project coverage is 78.37%. Comparing base (3357f74) to head (69eeab6). Report is 1 commits behind head on master.

Files with missing lines	Patch %	Lines
src/dg_commons/sim/models/spaceship.py	78.88%	35 Missing and 3 partials :warning:
src/dg_commons/sim/models/spaceship_structures.py	96.80%	3 Missing :warning:
src/dg_commons/sim/simulator_visualisation.py	92.30%	1 Missing and 1 partial :warning:

Additional details and impacted files

```diff @@ Coverage Diff @@ ## master #132 +/- ## ========================================== + Coverage 77.82% 78.37% +0.55% ========================================== Files 70 72 +2 Lines 4640 4943 +303 Branches 322 331 +9 ========================================== + Hits 3611 3874 +263 - Misses 952 989 +37 - Partials 77 80 +3 ```

:umbrella: View full report in Codecov by Sentry.
:loudspeaker: Have feedback on the report? Share it here.

[alezana]

@zipping-suger could we make it with the velocities in body frame? It should be costh = cos(x0.psi) sinth = sin(x0.psi) dx = vx costh - vy sinth dy = 0 ???? dm = -C_T thrust dvx = (1 / m) cos(delta) thrust dvy = dvpsi = -(1 / Iz) lr sin(delta) thrust ddelta = ddelta

could you please double check "dy".... not 100% sure

I already push a commit containing this minor things, please double check

[zipping-suger]

Dynamics:

• $\frac{dx}{dt} = v_x \cdot \cos(\psi) - v_y \cdot \sin(\psi)$
• $\frac{dy}{dt} = v_x \cdot \sin(\psi) + v_y \cdot \cos(\psi)$
• $\frac{d\psi}{dt} = \dot{\psi}$
• $\frac{dvx}{dt} = \frac{1}{m} \cdot \cos(\delta) \cdot F{\text{thrust}}$
• $\frac{dvy}{dt} = \frac{1}{m} \cdot \sin(\delta) \cdot F{\text{thrust}}$
• $\frac{d\dot{\psi}}{dt} = -\frac{1}{I} \cdot lr \cdot \sin(\delta) \cdot F{\text{thrust}}$
• $\frac{d\delta}{dt} = v_{\delta}$
• $\frac{dm}{dt} = -kl \cdot F{\text{thrust}}$

Where:

• $x$ and $y$ are the positions in the world frame.
• $v_x$ and $v_y$ are the velocities in the body frame of the spacecraft.
• $\delta$ is the angle of the thrusters with respect to the rocket.
• $\psi$ is the angle of the rocket with respect to the x-axis.
• $C_T$ is the thrust coefficient.
• $l_r$ is the distance from the thruster to the center of mass.
• $F_{\text{thrust}}$ is the force generated by the thruster.
• $I$ is the moment of inertia of the rocket.
• $k_l$ is the fuel consumption coefficient.

[zipping-suger]