track

Track dynamics model for ground locomotion.

Classes:

Name	Description
TrackDynamics	Track dynamics model for left/right traction forces.

TrackDynamics

TrackDynamics(params: VehicleParams = VehicleParams())

Bases: DynamicsBase

Track dynamics model for left/right traction forces.

Initialize track dynamics geometry and normal load distribution.

Methods:

Name	Description
update	Calculate the output force of the tracks based on track commands.
reset	Reset the track 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, state: ndarray) -> np.ndarray

Calculate the output force of the tracks based on track commands.

Parameters:

Name	Type	Description	Default
commands	ndarray	Command array for each track. Shape: (2,)	required
state	ndarray	Current vehicle state array. Shape: (3,)	required

Returns:

Type	Description
ndarray	np.ndarray: Force array for each track. Shape: (2, n_w, 2) [side, wheel, (Fx, Fy)]

reset

reset()

Reset the track model to initial conditions.