base

Base interfaces for LAV2 controllers.

类：

名称	描述
ControllerBase	Abstract controller base class.

ControllerBase

ControllerBase(params: VehicleParams, control_mask: ndarray | Tensor, gains: dict | None = None)

Bases: ABC

Abstract controller base class.

Initialize shared controller state.

方法：

名称	描述
update	Update the controller and return control outputs.
reset	Reset controller state if necessary.

属性：

名称	类型	描述
params	VehicleParams	Vehicle parameters for the controller.
control_mask	ndarray | Tensor	unified control mask for target/state channels, used in update(). e.g. using 9~11 for attitude yaw control.
gains	dict | None	Optional gains configuration for derived controllers.
target	ndarray | Tensor	Latest target input to the controller.

params instance-attribute

params: VehicleParams = params

Vehicle parameters for the controller.

control_mask instance-attribute

control_mask: ndarray | Tensor = control_mask

unified control mask for target/state channels, used in update(). e.g. using 9~11 for attitude yaw control.

gains instance-attribute

gains: dict | None = gains

Optional gains configuration for derived controllers.

target instance-attribute

target: ndarray | Tensor

Latest target input to the controller.

update abstractmethod

update(target, state)

Update the controller and return control outputs.

reset abstractmethod

reset(*args, **kwargs)

Reset controller state if necessary.