utils

Logging utilities for controller runs.

类：

名称	描述
Logger	A class for logging and visualization.

Logger

Logger(logging_freq_hz: int, output_folder: str = 'results', num_drones: int = 1, duration_sec: int = 0, colab: bool = False)

A class for logging and visualization.

Stores, saves to file, and plots the kinematic information and RPMs of a simulation with one or more drones.

Initialize logger buffers and output settings.

Note

The order in which information is stored by Logger.log() is not the same as the one in obs["id"]["state"]; see implementation below.

参数：

名称	类型	描述	默认
logging_freq_hz	int	Logging frequency in Hz.	必需
output_folder	str	Output directory for saved logs.	'results'
num_drones	int	Number of drones.	1
duration_sec	int	Preallocated duration in seconds (0 disables).	0
colab	bool	Enable Colab-friendly plotting.	False

方法：

名称	描述
log	Log entries for a single simulation step.
save	Save the logs to file.
save_as_csv	Save logs as comma separated values.
plot	Plot kinematics and RPMs for all drones.

log

log(drone: int, timestamp: float, state: ndarray, control: ndarray = np.zeros(12))

Log entries for a single simulation step.

参数：

名称	类型	描述	默认
drone	int	Drone index for the log entry.	必需
timestamp	float	Simulation timestamp.	必需
state	ndarray	Drone state vector, shape (20,).	必需
control	ndarray	Control target vector, shape (12,).	zeros(12)

save

save()

Save the logs to file.

save_as_csv

save_as_csv(comment: str = '')

Save logs as comma separated values.

参数：

名称	类型	描述	默认
comment	str	Added to the folder name.	''

plot

plot()

Plot kinematics and RPMs for all drones.