Array API differential-drive controller for batched ground vehicles.
Classes:
| Name | Description |
|---|---|
DifferentialDriveController |
PX4-style position/heading cascade with differential speed allocation. |
DifferentialDriveController(params: VehicleParams, control_mask: dict | None = None, gains: dict | None = None, limits: dict | None = None, num_envs: int = 1, device=None, *, backend: BackendName | None = None, xp: ModuleType | None = None)
Bases: ControllerBase
PX4-style position/heading cascade with differential speed allocation.
The output is [left, right] drive-shaft angular velocity in rad/s. The
controller is independent of wheel count: a platform adapter commands one
physical drive joint per side, while backend mechanical constraints
synchronize any follower road wheels or wheel shells.
Initialize the batched differential-drive controller.
Methods:
| Name | Description |
|---|---|
randomize |
Randomize gains and limits for selected environments. |
reset |
Reset all PID state for selected environments. |
update |
Compute left/right drive-shaft angular-velocity targets in rad/s. |
Attributes:
| Name | Type | Description |
|---|---|---|
params |
VehicleParams
|
Vehicle parameters for the controller. |
instance-attribute
params: VehicleParams = params
Vehicle parameters for the controller.
randomize(env_ids=None, gains: dict[str, Any] | None = None, limits: dict[str, Any] | None = None)
Randomize gains and limits for selected environments.
reset(env_ids=None)
Reset all PID state for selected environments.
update(target: ControllerTarget, state: ControllerState) -> ArrayLike
Compute left/right drive-shaft angular-velocity targets in rad/s.