rotor

Rotor dynamics model for thrust and torque outputs.

Classes:

Name	Description
RotorDynamics	Motor dynamics model for rotor thrust and torque.

RotorDynamics

RotorDynamics(params: VehicleParams = VehicleParams())

Bases: DynamicsBase

Motor dynamics model for rotor thrust and torque.

References

• Aerial Gym: https://github.com/ntnu-arl/aerial_gym_simulator/blob/main/aerial_gym/control/motor_model.py
• MARL_cooperative_aerial_manipulation_ext: https://github.com/Aerial-Manipulation-Lab/MARL_cooperative_aerial_manipulation_ext/blob/main/exts/MARL_mav_carry_ext/MARL_mav_carry_ext/controllers/motor_model.py
• isaac_drone_racer: https://github.com/kousheekc/isaac_drone_racer/blob/master/dynamics/motor.py

Initialize rotor dynamics and rate-limit parameters.

Methods:

Name	Description
update	Calculate the output thrust and torque for each motor based on the motor commands.
reset	Reset the rotor model to initial conditions.

Attributes:

Name	Type	Description
params	VehicleParams	Vehicle parameters for the dynamics model.

params instance-attribute

params: VehicleParams = params

Vehicle parameters for the dynamics model.

update

update(commands: ndarray) -> np.ndarray

Calculate the output thrust and torque for each motor based on the motor commands.

Parameters:

Name	Type	Description	Default
commands	ndarray	Command array for each motor. Shape: (4,)	required

Returns:

Type	Description
ndarray	np.ndarray: Thrust and torque array for each motor. Shape: (8,)

reset

reset()

Reset the rotor model to initial conditions.