base

Base interfaces for LAV2 dynamics models.

Classes:

Name	Description
DynamicsBase	Abstract dynamics base class.

DynamicsBase

DynamicsBase(params: VehicleParams)

Bases: ABC

Abstract dynamics base class.

Initialize dynamics with vehicle parameters.

Methods:

Name	Description
update	Advance dynamics by one step and return outputs.
reset	Reset internal state to initial conditions.

Attributes:

Name	Type	Description
params	VehicleParams	Vehicle parameters for the dynamics model.
commands	ndarray | Tensor	Latest control commands applied to the dynamics model.

params instance-attribute

params: VehicleParams = params

Vehicle parameters for the dynamics model.

commands instance-attribute

commands: ndarray | Tensor

Latest control commands applied to the dynamics model.

update abstractmethod

update(*args, **kwargs)

Advance dynamics by one step and return outputs.

reset abstractmethod

reset(*args, **kwargs)

Reset internal state to initial conditions.