utils

Logging utilities for controller runs.

Classes:

Name	Description
`Logger`	A class for logging and visualization.

Logger

Logger(logging_freq_hz: int, output_folder: str = 'results', num_drones: int = 1, duration_sec: int = 0, colab: bool = False)

A class for logging and visualization.

Stores, saves to file, and plots the kinematic information and RPMs of a simulation with one or more drones.

Initialize logger buffers and output settings.

Note

The order in which information is stored by Logger.log() is not the same as the one in obs["id"]["state"]; see implementation below.

Parameters:

Name	Type	Description	Default
`logging_freq_hz`	`int`	Logging frequency in Hz.	required
`output_folder`	`str`	Output directory for saved logs.	`'results'`
`num_drones`	`int`	Number of drones.	`1`
`duration_sec`	`int`	Preallocated duration in seconds (0 disables).	`0`
`colab`	`bool`	Enable Colab-friendly plotting.	`False`

Methods:

Name	Description
`log`	Log entries for a single simulation step.
`save`	Save the logs to file.
`save_as_csv`	Save logs as comma separated values.
`plot`	Plot kinematics and RPMs for all drones.

log(drone: int, timestamp: float, state: ndarray, control: ndarray = np.zeros(12))

Log entries for a single simulation step.

Parameters:

Name	Type	Description	Default
`drone`	`int`	Drone index for the log entry.	required
`timestamp`	`float`	Simulation timestamp.	required
`state`	`ndarray`	Drone state vector, shape (20,).	required
`control`	`ndarray`	Control target vector, shape (12,).	`zeros(12)`

save()

Save the logs to file.

save_as_csv(comment: str = '')

Save logs as comma separated values.

Parameters:

Name	Type	Description	Default
`comment`	`str`	Added to the folder name.	`''`

plot()

Plot kinematics and RPMs for all drones.