pid

Torch-based PID controllers for batched simulation.

类：

名称	描述
PID	Vectorized PID controller for multiple environments.
FlightController	PID flight controller (batched).
TrackController	PID track controller (batched).

PID

PID(Kp: Tensor, Ki: Tensor | None = None, Kd: Tensor | None = None, dt: float = 0.01, N: float = 100.0, integral_limit: Tensor | None = None, num_envs: int = 1)

Vectorized PID controller for multiple environments.

Initialize PID gains and state tensors.

参数：

名称	类型	描述	默认
Kp	Tensor	Proportional gain tensor with a leading environment dimension.	必需
Ki	Tensor | None	Integral gain tensor with the same shape as Kp.	None
Kd	Tensor | None	Derivative gain tensor with the same shape as Kp.	None
dt	float	Controller time step.	0.01
N	float	First-order derivative filter coefficient.	100.0
integral_limit	Tensor | None	Optional clamp applied elementwise to the integral state.	None
num_envs	int	Number of environments.	1

方法：

名称	描述
reset	Reset PID state for selected environments.
update	Compute PID output for the given error tensor.

reset

reset(env_ids: slice | Sequence[int] | Tensor) -> None

Reset PID state for selected environments.

参数：

名称	类型	描述	默认
env_ids	slice | Sequence[int] | Tensor	Indices or slice selecting which environments to reset.	必需

update

update(error: Tensor) -> torch.Tensor

Compute PID output for the given error tensor.

参数：

名称	类型	描述	默认
error	Tensor	Batched control error tensor compatible with the internal state shape determined from Kp.	必需

返回：

类型	描述
Tensor	torch.Tensor: Combined P+I+D control output.

FlightController

FlightController(params: VehicleParams = VehicleParams(), control_mask: list[int] = [1, 1, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0], gains: dict | None = None, limits: dict | None = None, num_envs: int = 1, device: str | device = 'cpu')

Bases: ControllerBase

PID flight controller (batched).

Initialize the batched flight PID controller.

方法：

名称	描述
randomize	Randomize configured PID gains and command limits for selected environments.
reset	Reset PID loops for selected environments.
update	Update controller.

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.

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.

randomize

randomize(env_ids=None, gains=None, limits=None)

Randomize configured PID gains and command limits for selected environments.

reset

reset(env_ids)

Reset PID loops for selected environments.

update

update(target: Tensor, state: Tensor) -> torch.Tensor

Update controller.

参数：

名称	类型	描述	默认
target	Tensor	(N, 12) desired [x, y, z, vx, vy, vz, roll, pitch, yaw, wx, wy, wz]	必需
state	Tensor	(N, 12) current state same ordering.	必需

返回：

类型	描述
Tensor	torch.Tensor: Tensor of shape (N, 4): [thrust, roll_moment, pitch_moment, yaw_moment].

TrackController

TrackController(params: VehicleParams = VehicleParams(), control_mask: list[int] = [0, 0, 0, 1, 0, 1], gains: dict | None = None, num_envs: int = 1, device: str | device = 'cpu')

Bases: ControllerBase

PID track controller (batched).

Initialize the batched track controller.

方法：

名称	描述
randomize	Randomize configured PID gains for all or selected environments.
reset	Reset PID loops for selected environments.
update	Update controller.

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.

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.

randomize

randomize(env_ids=None, gains=None)

Randomize configured PID gains for all or selected environments.

reset

reset(env_ids)

Reset PID loops for selected environments.

update

update(target: Tensor, state: Tensor) -> torch.Tensor

Update controller.

参数：

名称	类型	描述	默认
target	Tensor	(N, 6) desired [x, y, yaw, u, v, r]	必需
state	Tensor	(N, 6) current state same ordering.	必需

返回：

类型	描述
Tensor	torch.Tensor: (N, 2) left/right acceleration commands.