Logging utilities for controller runs.
Classes:
| Name | Description |
|---|---|
Logger |
Logging and visualization for controller runs with dict-based states and controls. |
Logger(logging_freq_hz: int, output_folder: str = 'results', num_drones: int = 1, duration_sec: int = 0, colab: bool = False)
Logging and visualization for controller runs with dict-based states and controls.
Initialize logger with per-drone dict-based storage.
Methods:
| Name | Description |
|---|---|
save_as_csv |
Save logs as CSV files. |
save |
Save logs to a compressed .npy file. |
plot |
Plot kinematics and RPMs for all drones. |
log |
Log one step. |
save_as_csv(comment: str = '')
Save logs as CSV files.
save()
Save logs to a compressed .npy file.
plot()
Plot kinematics and RPMs for all drones.
log(drone: int, timestamp: float, state: dict, control: dict)
Log one step.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
|
int
|
Drone index. |
required |
|
float
|
Simulation timestamp. |
required |
|
dict
|
dict with pos(3), vel(3) or vel_b(3), att_euler(3), ang_vel(3), optional flight_cmd(4), rotor_commands(4). |
required |
|
dict
|
dict with pos(3), vel(3) or vel_b(3), att_euler(3), ang_vel(3). |
required |